Drake
valkyrie_simulation.cc File Reference

Runs the simulator for the valkyrie robot. More...

#include <gflags/gflags.h>
#include "drake/examples/valkyrie/valkyrie_constants.h"
#include "drake/examples/valkyrie/valkyrie_simulator.h"
#include "drake/systems/analysis/semi_explicit_euler_integrator.h"
#include "drake/systems/analysis/simulator.h"
Include dependency graph for valkyrie_simulation.cc:

Namespaces

 drake
 
 drake::examples
 
 drake::examples::valkyrie
 

Functions

 DEFINE_string (simulation_type,"compliant","Type of simulation, valid values are ""'timestepping','compliant'")
 
 DEFINE_double (dt, 1e-3,"The step size to use for ""'simulation_type=timestepping' (ignored for ""'simulation_type=compliant'")
 
int main ()
 
int main (int argc, char *argv[])
 

Detailed Description

Runs the simulator for the valkyrie robot.

It receives torque commands and sends measured robot state through LCM traffic. See valkyrie_simulator.h for more details.

Function Documentation

DEFINE_double ( dt  ,
1e-  3 
)
DEFINE_string ( simulation_type  ,
"compliant"  ,
"Type of  simulation,
valid values are""'timestepping'  ,
'compliant'"   
)
int main ( int  argc,
char *  argv[] 
)

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