walk_parameters.h File Reference

#include <string>
#include <qi/log.hpp>
#include <alcore/alptr.h>
#include <alcommon/alproxy.h>
#include <alcommon/albroker.h>
#include <alproxies/alpreferencesproxy.h>

Go to the source code of this file.

Classes
class	walkParameters
	A container for parameters. More...

Enumerations
enum	walkPatterns { WALK_PATTERN_STRAIGHT = 0, WALK_PATTERN_DIAGONAL = 1, WALK_PATTERN_CIRCULAR = 2 }
enum	solverTypes { SOLVER_TYPE_AS = 0, SOLVER_TYPE_IP = 1 }
enum	parametersNames {   FEEDBACK_GAIN, FEEDBACK_THRESHOLD, MPC_SOLVER_TYPE, MPC_GAIN_POSITION,   MPC_GAIN_VELOCITY, MPC_GAIN_ACCELERATION, MPC_GAIN_JERK, MPC_AS_TOLERANCE,   MPC_AS_MAX_ACTIVATE, MPC_AS_USE_DOWNDATE, MPC_IP_TOLERANCE_INT, MPC_IP_TOLERANCE_EXT,   MPC_IP_T, MPC_IP_MU, MPC_IP_BS_ALPHA, MPC_IP_BS_BETA,   MPC_IP_MAX_ITER, MPC_IP_BS_TYPE, IGM_MU, STEP_HEIGHT,   STEP_LENGTH, BEZIER_WEIGHT_1, BEZIER_WEIGHT_2, BEZIER_INCLINATION_1,   BEZIER_INCLINATION_2, LOOP_TIME_LIMIT_MS, DCM_TIME_SHIFT_MS, PREVIEW_SAMPLING_TIME_MS,   PREVIEW_WINDOW_SIZE, SS_CONTROL_LOOPS, DS_CONTROL_LOOPS, DS_NUMBER,   STEP_PAIRS_NUMBER, WALK_PATTERN, NUM_PARAMETERS }

Detailed Description

Author

Antonio Paolillo

Dimitar Dimitrov

Alexander Sherikov

Definition in file walk_parameters.h.

Enumeration Type Documentation

parametersNames

enum parametersNames

Enumerator
FEEDBACK_GAIN
FEEDBACK_THRESHOLD
MPC_SOLVER_TYPE
MPC_GAIN_POSITION
MPC_GAIN_VELOCITY
MPC_GAIN_ACCELERATION
MPC_GAIN_JERK
MPC_AS_TOLERANCE
MPC_AS_MAX_ACTIVATE
MPC_AS_USE_DOWNDATE
MPC_IP_TOLERANCE_INT
MPC_IP_TOLERANCE_EXT
MPC_IP_T
MPC_IP_MU
MPC_IP_BS_ALPHA
MPC_IP_BS_BETA
MPC_IP_MAX_ITER
MPC_IP_BS_TYPE
IGM_MU
STEP_HEIGHT
STEP_LENGTH
BEZIER_WEIGHT_1
BEZIER_WEIGHT_2
BEZIER_INCLINATION_1
BEZIER_INCLINATION_2
LOOP_TIME_LIMIT_MS
DCM_TIME_SHIFT_MS
PREVIEW_SAMPLING_TIME_MS
PREVIEW_WINDOW_SIZE
SS_CONTROL_LOOPS
DS_CONTROL_LOOPS
DS_NUMBER
STEP_PAIRS_NUMBER
WALK_PATTERN
NUM_PARAMETERS

Definition at line 52 of file walk_parameters.h.

solverTypes

enum solverTypes

Enumerator
SOLVER_TYPE_AS
SOLVER_TYPE_IP

Definition at line 45 of file walk_parameters.h.

walkPatterns

enum walkPatterns

Enumerator
WALK_PATTERN_STRAIGHT
WALK_PATTERN_DIAGONAL
WALK_PATTERN_CIRCULAR

Definition at line 37 of file walk_parameters.h.