Public Member Functions | Public Attributes | List of all members
mc_rbdyn::lipm_stabilizer::SafetyThresholds Struct Reference

Stabilizer safety thresholds. More...

#include <mc_rbdyn/lipm_stabilizer/StabilizerConfiguration.h>

Public Member Functions

void load (const mc_rtc::Configuration &config)
 
mc_rtc::Configuration save () const
 

Public Attributes

double MAX_AVERAGE_DCM_ERROR = 0.05
 
double MAX_COP_ADMITTANCE = 0.1
 
double MAX_DCM_D_GAIN = 2.
 
double MAX_DCM_I_GAIN = 100.
 
double MAX_DCM_P_GAIN = 20.
 
double MAX_COMD_GAIN = 10.
 
double MAX_ZMPD_GAIN = 10.
 
double MAX_DF_ADMITTANCE = 5e-4
 
double MAX_DF_DAMPING = 10.
 
double MAX_FDC_RX_VEL = 0.2
 
double MAX_FDC_RY_VEL = 0.2
 
double MAX_FDC_RZ_VEL = 0.2
 
double MIN_DS_PRESSURE = 15.
 
double MIN_NET_TOTAL_FORCE_ZMP = 1.
 

Detailed Description

Stabilizer safety thresholds.

The corresponding stabilization entries should be clamped within those limits

Warning
Developper note: Do not change the default thresholds here, it is likely that robot modules and users do not override every single parameter value, and modifying their default might have serious consequences.

Member Function Documentation

◆ load()

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

◆ save()

mc_rtc::Configuration mc_rbdyn::lipm_stabilizer::SafetyThresholds::save ( ) const
inline

Member Data Documentation

◆ MAX_AVERAGE_DCM_ERROR

double mc_rbdyn::lipm_stabilizer::SafetyThresholds::MAX_AVERAGE_DCM_ERROR = 0.05

Maximum average (integral) DCM error in [m]

◆ MAX_COMD_GAIN

double mc_rbdyn::lipm_stabilizer::SafetyThresholds::MAX_COMD_GAIN = 10.

Maximum CoMd gain in [Hz]

◆ MAX_COP_ADMITTANCE

double mc_rbdyn::lipm_stabilizer::SafetyThresholds::MAX_COP_ADMITTANCE = 0.1

Maximum CoP admittance for foot damping control

◆ MAX_DCM_D_GAIN

double mc_rbdyn::lipm_stabilizer::SafetyThresholds::MAX_DCM_D_GAIN = 2.

Maximum DCM derivative gain (no unit)

◆ MAX_DCM_I_GAIN

double mc_rbdyn::lipm_stabilizer::SafetyThresholds::MAX_DCM_I_GAIN = 100.

Maximum DCM average integral gain in [Hz]

◆ MAX_DCM_P_GAIN

double mc_rbdyn::lipm_stabilizer::SafetyThresholds::MAX_DCM_P_GAIN = 20.

Maximum DCM proportional gain in [Hz]

◆ MAX_DF_ADMITTANCE

double mc_rbdyn::lipm_stabilizer::SafetyThresholds::MAX_DF_ADMITTANCE = 5e-4

Maximum admittance in [s] / [kg] for foot force difference control

◆ MAX_DF_DAMPING

double mc_rbdyn::lipm_stabilizer::SafetyThresholds::MAX_DF_DAMPING = 10.

Maximum normalized damping in [Hz] for foot force difference control

◆ MAX_FDC_RX_VEL

double mc_rbdyn::lipm_stabilizer::SafetyThresholds::MAX_FDC_RX_VEL = 0.2

Maximum x-axis angular velocity in [rad] / [s] for foot damping control.

◆ MAX_FDC_RY_VEL

double mc_rbdyn::lipm_stabilizer::SafetyThresholds::MAX_FDC_RY_VEL = 0.2

Maximum y-axis angular velocity in [rad] / [s] for foot damping control.

◆ MAX_FDC_RZ_VEL

double mc_rbdyn::lipm_stabilizer::SafetyThresholds::MAX_FDC_RZ_VEL = 0.2

Maximum z-axis angular velocity in [rad] / [s] for foot damping control.

◆ MAX_ZMPD_GAIN

double mc_rbdyn::lipm_stabilizer::SafetyThresholds::MAX_ZMPD_GAIN = 10.

Maximum ZMPd gain in [Hz]

◆ MIN_DS_PRESSURE

double mc_rbdyn::lipm_stabilizer::SafetyThresholds::MIN_DS_PRESSURE = 15.

Minimum normal contact force in DSP, used to avoid low-pressure targets when close to contact switches. Minimum force for valid ZMP computation (throws otherwise)

◆ MIN_NET_TOTAL_FORCE_ZMP

double mc_rbdyn::lipm_stabilizer::SafetyThresholds::MIN_NET_TOTAL_FORCE_ZMP = 1.
The documentation for this struct was generated from the following file: