rm_chassis_controllers Namespace Reference

Classes
class	ActiveSuspensionController
class	BalanceController
struct	BiasParams
class	BipedalController
class	BipedalControllerInterface
class	ChassisBase
struct	ChassisGeometryParams
struct	ChassisState
struct	Command
struct	ControlParams
class	FiveLinkVMC
struct	LegCommand
struct	LegForce
struct	LegPos
struct	LegSpd
struct	LegState
struct	LegStateThresholdParams
struct	LQRConfig
class	ModeBase
struct	ModelParams
class	ModeManager
struct	Module
class	Normal
class	OmniController
struct	PowerLimitor
class	Protect
class	Recover
class	SentryController
class	SitDown
struct	SpringParams
class	StandUp
class	SwerveController
class	TwoLinkVMC
class	Upstairs
class	VMC
class	VMCController

Typedefs
using	VMCPtr = std::shared_ptr<VMC>

Enumerations
enum class	State { DOWN = 0 , MID = 1 , UP = 2 }
enum	LegOrientation { UNDER , FRONT , BEHIND }
enum	JumpPhase { LEG_RETRACTION , JUMP_UP , OFF_GROUND , IDLE }
enum	BalanceMode {   NORMAL , STAND_UP , SIT_DOWN , RECOVER ,   UPSTAIRS , PROTECT }
enum	Side { LEFT = 0 , RIGHT }
enum	{ WHEEL_T = 0 , LEG_Tp }
enum	{   THETA = 0 , D_THETA , POS , VEL ,   PITCH , D_PITCH }

Functions
void	generateAB (const std::shared_ptr< ModelParams > &model_params, Eigen::Matrix< double, STATE_DIM, STATE_DIM > &a, Eigen::Matrix< double, STATE_DIM, CONTROL_DIM > &b, double leg_length)
void	setJointCommands (std::vector< hardware_interface::JointHandle * > &joints, const LegCommand &left_cmd, const LegCommand &right_cmd, double wheel_left=0., double wheel_right=0.)
void	quatToRPY (const geometry_msgs::Quaternion &q, double &roll, double &pitch, double &yaw)
void	clamp (double &val, const double &minVal, const double &maxVal)

Variables
constexpr std::array< std::pair< JumpPhase, const double >, 3 >	jumpLengthDes

Typedef Documentation

VMCPtr

using rm_chassis_controllers::VMCPtr = std::shared_ptr<VMC>

Enumeration Type Documentation

anonymous enum

anonymous enum

Enumerator
WHEEL_T
LEG_Tp

anonymous enum

anonymous enum

Enumerator
THETA
D_THETA
POS
VEL
PITCH
D_PITCH

BalanceMode

enum rm_chassis_controllers::BalanceMode

Enumerator
NORMAL
STAND_UP
SIT_DOWN
RECOVER
UPSTAIRS
PROTECT

JumpPhase

enum rm_chassis_controllers::JumpPhase

Enumerator
LEG_RETRACTION
JUMP_UP
OFF_GROUND
IDLE

LegOrientation

enum rm_chassis_controllers::LegOrientation

Enumerator
UNDER
FRONT
BEHIND

Side

enum rm_chassis_controllers::Side

Enumerator
LEFT
RIGHT

State

enum class rm_chassis_controllers::State

strong

Enumerator
DOWN
MID
UP

Function Documentation

clamp()

void rm_chassis_controllers::clamp ( double & val, const double & minVal, const double & maxVal )

inline

generateAB()

void rm_chassis_controllers::generateAB ( const std::shared_ptr< ModelParams > & model_params, Eigen::Matrix< double, STATE_DIM, STATE_DIM > & a, Eigen::Matrix< double, STATE_DIM, CONTROL_DIM > & b, double leg_length )

inline

Generate continuous-time state space matrices A and B

Parameters

model_params
a
b
leg_length

quatToRPY()

void rm_chassis_controllers::quatToRPY ( const geometry_msgs::Quaternion & q, double & roll, double & pitch, double & yaw )

inline

Convert quaternion to roll, pitch, yaw

Parameters

q
roll
pitch
yaw

setJointCommands()

void rm_chassis_controllers::setJointCommands ( std::vector< hardware_interface::JointHandle * > & joints, const LegCommand & left_cmd, const LegCommand & right_cmd, double wheel_left = 0., double wheel_right = 0. )

inline

Set joint commands to the joint handles

Parameters

joints
left_cmd
right_cmd
wheel_left
wheel_right

Variable Documentation

jumpLengthDes

std::array<std::pair<JumpPhase, const double>, 3> rm_chassis_controllers::jumpLengthDes

constexpr

Initial value:

= {
  { { JumpPhase::LEG_RETRACTION, 0.11 }, { JumpPhase::JUMP_UP, 0.34 }, { JumpPhase::OFF_GROUND, 0.11 } }
}