Drake
QPControllerParams Struct Reference

#include <drake/attic/systems/controllers/QPCommon.h>

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()

QPControllerParams ( const RigidBodyTree< double > &  robot)
inlineexplicit

Friends And Related Function Documentation

◆ operator==

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

Member Data Documentation

◆ body_motion

◆ center_of_mass_observer_gain

Eigen::Matrix4d center_of_mass_observer_gain

◆ contact_threshold

double contact_threshold

◆ hardware

HardwareParams hardware

◆ joint_soft_limits

JointSoftLimitParams joint_soft_limits

◆ Kp_accel

double Kp_accel

◆ Kp_ang

double Kp_ang

◆ min_knee_angle

double min_knee_angle

◆ slack_limit

double slack_limit

◆ use_center_of_mass_observer

bool use_center_of_mass_observer

◆ vref_integrator

VRefIntegratorParams vref_integrator

◆ w_grf

double w_grf

◆ W_kdot

Eigen::Matrix3d W_kdot

◆ w_slack

double w_slack

◆ whole_body

WholeBodyParams whole_body

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