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QPLocomotionPlanSettings Class Reference
Collaboration diagram for QPLocomotionPlanSettings:

Public Member Functions

function QPLocomotionPlanSettings (robot)
 
function setCOMTraj (obj)
 
function setLQRForCoM (obj)
 
function draw_lcmgl (obj, lcmgl)
 
function getLinkTrajectories (obj)
 

Static Public Member Functions

static function fromStandingState (x0, biped, support_state, options)
 
static function fromBipedFootstepPlan (footstep_plan, biped, x0, zmp_options)
 
static function fromBipedFootAndZMPKnots (foot_motion_data, zmp_knots, biped, x0, options)
 
static function fromQuasistaticQTraj (biped, qtraj, options)
 
static function getSupports (zmp_knots)
 
static function getZMPTraj (zmp_knots)
 

Public Attributes

Property robot
 
Property contact_groups
 
Property support_times
 
Property supports
 
Property body_motions
 
Property zmp_data
 
Property zmptraj
 
Property V
 
Property qtraj
 
Property comtraj
 
Property mu
 
Property D_control
 
Property use_plan_shift
 
Property plan_shift_body_motion_inds
 
Property g
 gravity m/s^2 More...
 
Property is_quasistatic
 
Property constrained_dofs
 
Property untracked_joint_inds
 
Property x0
 
Property planned_support_command
 when the plan says a given body is in support, require the controller to use that support. To allow the controller to use that support only if it thinks the body is in contact with the terrain, try QPControllerPlan.support_logic_maps.kinematic_or_sensed; More...
 
Property min_knee_angle
 
Property ankle_limits_tolerance
 
Property knee_kp
 
Property knee_kd
 
Property knee_weight
 
Property zmp_safety_margin
 
Property early_contact_allowed_fraction
 If a body is about to come into contact, then, after this fraction of the duration of the current support, add an optional support that the controller can use if it senses force on that body. More...
 
Property duration
 
Property start_time
 
Property gain_set
 

Constructor & Destructor Documentation

Return values
obj

Member Function Documentation

function draw_lcmgl ( obj  ,
lcmgl   
)
static function fromBipedFootAndZMPKnots ( foot_motion_data  ,
zmp_knots  ,
biped  ,
x0  ,
options   
)
static
Return values
obj
static function fromBipedFootstepPlan ( footstep_plan  ,
biped  ,
x0  ,
zmp_options   
)
static
Return values
obj
static function fromQuasistaticQTraj ( biped  ,
qtraj  ,
options   
)
static
Return values
obj
static function fromStandingState ( x0  ,
biped  ,
support_state  ,
options   
)
static
Return values
obj
function getLinkTrajectories ( obj  )
Return values
link_trajectories
static function getSupports ( zmp_knots  )
static
Return values
supports
support_times
static function getZMPTraj ( zmp_knots  )
static
Return values
zmptraj
function setCOMTraj ( obj  )
Return values
obj
function setLQRForCoM ( obj  )
Return values
obj

Member Data Documentation

Property ankle_limits_tolerance
Property body_motions
Property comtraj
Property constrained_dofs
Property contact_groups
Property D_control
Property duration
Property early_contact_allowed_fraction

If a body is about to come into contact, then, after this fraction of the duration of the current support, add an optional support that the controller can use if it senses force on that body.

Property g

gravity m/s^2

Property gain_set
Property is_quasistatic
Property knee_kd
Property knee_kp
Property knee_weight
Property min_knee_angle
Property mu
Property plan_shift_body_motion_inds
Property planned_support_command

when the plan says a given body is in support, require the controller to use that support. To allow the controller to use that support only if it thinks the body is in contact with the terrain, try QPControllerPlan.support_logic_maps.kinematic_or_sensed;

Property qtraj
Property robot
Property start_time
Property support_times
Property supports
Property untracked_joint_inds
Property use_plan_shift
Property V
Property x0
Property zmp_data
Property zmp_safety_margin
Property zmptraj

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