A container for parameters. More...

#include <walk_parameters.h>

Public Member Functions
	walkParameters (ALPtr< ALBroker >)
	Initialize parameters to default values. More...

void	readParameters ()
	Read parameters from configuration file; if the file does not exist, write the default values to it. More...

void	writeParameters ()
	Write the values of parameters to the config file. More...

Public Attributes
double	feedback_gain

double	feedback_threshold

int	mpc_solver_type

double	mpc_gain_position

double	mpc_gain_velocity

double	mpc_gain_acceleration

double	mpc_gain_jerk

double	mpc_as_tolerance

int	mpc_as_max_activate

bool	mpc_as_use_downdate

double	mpc_ip_tolerance_int

double	mpc_ip_tolerance_ext

double	mpc_ip_t

double	mpc_ip_mu

double	mpc_ip_bs_alpha

double	mpc_ip_bs_beta

int	mpc_ip_max_iter

int	mpc_ip_bs_type

double	step_height

double	step_length

int	walk_control_thread_priority

int	dcm_sampling_time_ms

int	dcm_time_shift_ms

int	control_sampling_time_ms

double	control_sampling_time_sec

int	loop_time_limit_ms

int	preview_sampling_time_ms

double	preview_sampling_time_sec

int	preview_window_size

bool	set_support_z_to_zero

int	ss_time_ms

int	ds_time_ms

int	ds_number

int	step_pairs_number

int	walk_pattern

double	igm_tol

int	igm_max_iter

double	igm_mu

double	bezier_weight_1

double	bezier_weight_2

double	bezier_inclination_1

double	bezier_inclination_2

ALValue	param_names

ALPreferencesProxy	pref_proxy

Detailed Description

A container for parameters.

Definition at line 103 of file walk_parameters.h.

Constructor & Destructor Documentation

◆ walkParameters()

walkParameters::walkParameters ( ALPtr< ALBroker > broker )

Initialize parameters to default values.

Parameters

[in] broker parent broker.

0.5 in the publication by Aldebaran-Robotics

0.003 in the publication by Aldebaran-Robotics Note, that even though they derive the value of this parameter in the paper, we simply tuned it.

0.015 in the publication by Aldebaran-Robotics 0.02 is used in the built-in module, but is is slightly higher when executed on the robot.

Definition at line 16 of file walk_parameters.cpp.

Member Function Documentation

◆ readParameters()

void walkParameters::readParameters ( )

Read parameters from configuration file; if the file does not exist, write the default values to it.

Definition at line 173 of file walk_parameters.cpp.

◆ writeParameters()

void walkParameters::writeParameters ( )

Write the values of parameters to the config file.

Definition at line 258 of file walk_parameters.cpp.

Member Data Documentation

◆ bezier_inclination_1

double walkParameters::bezier_inclination_1

Definition at line 166 of file walk_parameters.h.

◆ bezier_inclination_2

double walkParameters::bezier_inclination_2

Definition at line 167 of file walk_parameters.h.

◆ bezier_weight_1

double walkParameters::bezier_weight_1

Definition at line 164 of file walk_parameters.h.

◆ bezier_weight_2

double walkParameters::bezier_weight_2

Definition at line 165 of file walk_parameters.h.

◆ control_sampling_time_ms

int walkParameters::control_sampling_time_ms

Definition at line 142 of file walk_parameters.h.

◆ control_sampling_time_sec

double walkParameters::control_sampling_time_sec

Definition at line 143 of file walk_parameters.h.

◆ dcm_sampling_time_ms

int walkParameters::dcm_sampling_time_ms

Definition at line 140 of file walk_parameters.h.

◆ dcm_time_shift_ms

int walkParameters::dcm_time_shift_ms

Definition at line 141 of file walk_parameters.h.

◆ ds_number

int walkParameters::ds_number

Definition at line 153 of file walk_parameters.h.

◆ ds_time_ms

int walkParameters::ds_time_ms

Definition at line 152 of file walk_parameters.h.

◆ feedback_gain

double walkParameters::feedback_gain

Definition at line 111 of file walk_parameters.h.

◆ feedback_threshold

double walkParameters::feedback_threshold

Definition at line 112 of file walk_parameters.h.

◆ igm_max_iter

int walkParameters::igm_max_iter

Definition at line 160 of file walk_parameters.h.

◆ igm_mu

double walkParameters::igm_mu

Definition at line 161 of file walk_parameters.h.

◆ igm_tol

double walkParameters::igm_tol

Definition at line 159 of file walk_parameters.h.

◆ loop_time_limit_ms

int walkParameters::loop_time_limit_ms

Definition at line 144 of file walk_parameters.h.

◆ mpc_as_max_activate

int walkParameters::mpc_as_max_activate

Definition at line 122 of file walk_parameters.h.

◆ mpc_as_tolerance

double walkParameters::mpc_as_tolerance

Definition at line 121 of file walk_parameters.h.

◆ mpc_as_use_downdate

bool walkParameters::mpc_as_use_downdate

Definition at line 123 of file walk_parameters.h.

◆ mpc_gain_acceleration

double walkParameters::mpc_gain_acceleration

Definition at line 118 of file walk_parameters.h.

◆ mpc_gain_jerk

double walkParameters::mpc_gain_jerk

Definition at line 119 of file walk_parameters.h.

◆ mpc_gain_position

double walkParameters::mpc_gain_position

Definition at line 116 of file walk_parameters.h.

◆ mpc_gain_velocity

double walkParameters::mpc_gain_velocity

Definition at line 117 of file walk_parameters.h.

◆ mpc_ip_bs_alpha

double walkParameters::mpc_ip_bs_alpha

Definition at line 129 of file walk_parameters.h.

◆ mpc_ip_bs_beta

double walkParameters::mpc_ip_bs_beta

Definition at line 130 of file walk_parameters.h.

◆ mpc_ip_bs_type

int walkParameters::mpc_ip_bs_type

Definition at line 132 of file walk_parameters.h.

◆ mpc_ip_max_iter

int walkParameters::mpc_ip_max_iter

Definition at line 131 of file walk_parameters.h.

◆ mpc_ip_mu

double walkParameters::mpc_ip_mu

Definition at line 128 of file walk_parameters.h.

◆ mpc_ip_t

double walkParameters::mpc_ip_t

Definition at line 127 of file walk_parameters.h.

◆ mpc_ip_tolerance_ext

double walkParameters::mpc_ip_tolerance_ext

Definition at line 126 of file walk_parameters.h.

◆ mpc_ip_tolerance_int

double walkParameters::mpc_ip_tolerance_int

Definition at line 125 of file walk_parameters.h.

◆ mpc_solver_type

int walkParameters::mpc_solver_type

Definition at line 114 of file walk_parameters.h.

◆ param_names

ALValue walkParameters::param_names

Definition at line 170 of file walk_parameters.h.

◆ pref_proxy

ALPreferencesProxy walkParameters::pref_proxy

Definition at line 171 of file walk_parameters.h.

◆ preview_sampling_time_ms

int walkParameters::preview_sampling_time_ms

Definition at line 145 of file walk_parameters.h.

◆ preview_sampling_time_sec

double walkParameters::preview_sampling_time_sec

Definition at line 146 of file walk_parameters.h.

◆ preview_window_size

int walkParameters::preview_window_size

Definition at line 147 of file walk_parameters.h.

◆ set_support_z_to_zero

bool walkParameters::set_support_z_to_zero

Definition at line 149 of file walk_parameters.h.

◆ ss_time_ms

int walkParameters::ss_time_ms

Definition at line 151 of file walk_parameters.h.

◆ step_height

double walkParameters::step_height

Definition at line 135 of file walk_parameters.h.

◆ step_length

double walkParameters::step_length

Definition at line 136 of file walk_parameters.h.

◆ step_pairs_number

int walkParameters::step_pairs_number

Definition at line 154 of file walk_parameters.h.

◆ walk_control_thread_priority

int walkParameters::walk_control_thread_priority

Definition at line 138 of file walk_parameters.h.

◆ walk_pattern

int walkParameters::walk_pattern

Definition at line 156 of file walk_parameters.h.

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

src/walk_parameters.h
src/walk_parameters.cpp

Public Member Functions

Public Attributes