#include <mc_rbdyn/lipm_stabilizer/StabilizerConfiguration.h>

Public Member Functions
void	load (const mc_rtc::Configuration &config)

mc_rtc::Configuration	save () const

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW double	dcmMeasureErrorStd = 0.01
	the standard deviation of the dcm estimation error, NOT including the bias [m] More...

double	zmpMeasureErrorStd = 0.05
	the standard deviaiton of the zmp estimation error [m] More...

double	biasDriftPerSecondStd = 0.02
	the standard deviation of the drift [m/s] More...

Eigen::Vector2d	biasLimit = {0.02, 0.02}
	Maximum bias in the sagital and lateral directions [m]. More...

Eigen::Vector2d	comBiasLimit = biasLimit
	Maximum bias in the sagital and lateral directions used to correct the CoM, should be smaller than bisaLimit [m]. More...

bool	withDCMBias = false
	Whether the DCM bias estimator is enabled (default: false for backwards compatibility) More...

bool	withDCMFilter = false
	Whether the DCM filter is enabled. More...

bool	correctCoMPos = false

bool	correctDCM = true
	Whether the estimated bias should be used on the dcm. More...

Detailed Description

Parameters for the DCM bias estimator

Member Function Documentation

◆ load()

void mc_rbdyn::lipm_stabilizer::DCMBiasEstimatorConfiguration::load ( const mc_rtc::Configuration & config )

inline

◆ save()

mc_rtc::Configuration mc_rbdyn::lipm_stabilizer::DCMBiasEstimatorConfiguration::save ( ) const

inline

Member Data Documentation

◆ biasDriftPerSecondStd

double mc_rbdyn::lipm_stabilizer::DCMBiasEstimatorConfiguration::biasDriftPerSecondStd = 0.02

the standard deviation of the drift [m/s]

◆ biasLimit

Eigen::Vector2d mc_rbdyn::lipm_stabilizer::DCMBiasEstimatorConfiguration::biasLimit = {0.02, 0.02}

Maximum bias in the sagital and lateral directions [m].

◆ comBiasLimit

Eigen::Vector2d mc_rbdyn::lipm_stabilizer::DCMBiasEstimatorConfiguration::comBiasLimit = biasLimit

Maximum bias in the sagital and lateral directions used to correct the CoM, should be smaller than bisaLimit [m].

◆ correctCoMPos

bool mc_rbdyn::lipm_stabilizer::DCMBiasEstimatorConfiguration::correctCoMPos = false

Whether the absolute CoM position gets unbiased (useful when the disturbance comes from a bias on the CoM, for example modeling errors or carrying an object, but it would be wrong if the disturbance comes from an unexpected contact, the estimator cannot distinguish between them)

◆ correctDCM

bool mc_rbdyn::lipm_stabilizer::DCMBiasEstimatorConfiguration::correctDCM = true

Whether the estimated bias should be used on the dcm.

◆ dcmMeasureErrorStd

EIGEN_MAKE_ALIGNED_OPERATOR_NEW double mc_rbdyn::lipm_stabilizer::DCMBiasEstimatorConfiguration::dcmMeasureErrorStd = 0.01

the standard deviation of the dcm estimation error, NOT including the bias [m]

◆ withDCMBias

bool mc_rbdyn::lipm_stabilizer::DCMBiasEstimatorConfiguration::withDCMBias = false

Whether the DCM bias estimator is enabled (default: false for backwards compatibility)

◆ withDCMFilter

bool mc_rbdyn::lipm_stabilizer::DCMBiasEstimatorConfiguration::withDCMFilter = false

Whether the DCM filter is enabled.

◆ zmpMeasureErrorStd

double mc_rbdyn::lipm_stabilizer::DCMBiasEstimatorConfiguration::zmpMeasureErrorStd = 0.05

the standard deviaiton of the zmp estimation error [m]

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

include/mc_rbdyn/lipm_stabilizer/StabilizerConfiguration.h

Public Member Functions

Public Attributes