mc_rbdyn::lipm_stabilizer::ZMPCCConfiguration Struct Reference

#include <mc_rbdyn/lipm_stabilizer/ZMPCCConfiguration.h>

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

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector2d	comAdmittance = Eigen::Vector2d::Zero()
double	integratorLeakRate = 0.1
double	maxCoMOffset = 0.05
double	maxCoMAdmitance = 20

Member Function Documentation

load()

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

inline

save()

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

inline

Member Data Documentation

comAdmittance

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector2d mc_rbdyn::lipm_stabilizer::ZMPCCConfiguration::comAdmittance = Eigen::Vector2d::Zero()

Admittance gains for CoM admittance control

integratorLeakRate

double mc_rbdyn::lipm_stabilizer::ZMPCCConfiguration::integratorLeakRate = 0.1

Leak rate

maxCoMAdmitance

double mc_rbdyn::lipm_stabilizer::ZMPCCConfiguration::maxCoMAdmitance = 20

Maximum admittance for CoM admittance control

maxCoMOffset

double mc_rbdyn::lipm_stabilizer::ZMPCCConfiguration::maxCoMOffset = 0.05

Maximum CoM offset due to admittance control in [m]

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

• include/mc_rbdyn/lipm_stabilizer/ZMPCCConfiguration.h