Drake
QPControllerParams Struct Reference

#include <systems/controllers/QPCommon.h>

Collaboration diagram for QPControllerParams:
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Public Member Functions

 QPControllerParams (const RigidBodyTree< double > &robot)
 

Public Attributes

WholeBodyParams whole_body
 
drake::eigen_aligned_std_vector< BodyMotionParamsbody_motion
 
VRefIntegratorParams vref_integrator
 
JointSoftLimitParams joint_soft_limits
 
HardwareParams hardware
 
Eigen::Matrix3d W_kdot
 
double Kp_ang
 
double w_slack
 
double slack_limit
 
double w_grf
 
double Kp_accel
 
double contact_threshold
 
double min_knee_angle
 
bool use_center_of_mass_observer
 
Eigen::Matrix4d center_of_mass_observer_gain
 

Friends

bool operator== (const QPControllerParams &lhs, const QPControllerParams &rhs)
 

Constructor & Destructor Documentation

QPControllerParams ( const RigidBodyTree< double > &  robot)
inlineexplicit

Friends And Related Function Documentation

bool operator== ( const QPControllerParams lhs,
const QPControllerParams rhs 
)
friend

Member Data Documentation

Eigen::Matrix4d center_of_mass_observer_gain
double contact_threshold
HardwareParams hardware
JointSoftLimitParams joint_soft_limits
double Kp_accel
double Kp_ang
double min_knee_angle
double slack_limit
bool use_center_of_mass_observer
VRefIntegratorParams vref_integrator
double w_grf
Eigen::Matrix3d W_kdot
double w_slack
WholeBodyParams whole_body

The documentation for this struct was generated from the following file: