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NimbRo ROS Soccer Package
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NimbRo ROS Soccer Package
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Configuration struct for the capture step gait. More...
#include <cap_gait_config.h>
Public Member Functions | |
| CapConfig () | |
| Constructor. | |
| void | resetRobotSpecCallbacks () |
| void | addRobotSpecCallback (const boost::function< void()> &callback) |
| void | callRobotSpecCallbacks () |
Public Attributes | |
Class constants | |
| const std::string | CONFIG_PARAM_PATH |
| Path for the capture step gait configuration parameters on the config server. | |
Robot specifications | |
| config_server::Parameter< float > | armLinkLength |
| Length of each/both the upper and lower arm links. | |
| config_server::Parameter< float > | legLinkLength |
| Length of each/both the upper and lower leg links. | |
| config_server::Parameter< float > | shoulderWidth |
| Horizontal separation between the two hip joints (length of the hip line) | |
| config_server::Parameter< float > | hipWidth |
| Horizontal separation between the two hip joints (length of the hip line) | |
| config_server::Parameter< float > | trunkHeight |
| Vertical height of the trunk from the hip line to the shoulder line. | |
| config_server::Parameter< float > | trunkLinkOffsetX |
| Forward offset of the trunk link tf frame from the hip midpoint. | |
| config_server::Parameter< float > | trunkLinkOffsetY |
| Leftward offset of the trunk link tf frame from the hip midpoint. | |
| config_server::Parameter< float > | trunkLinkOffsetZ |
| Upward offset of the trunk link tf frame from the hip midpoint. | |
| config_server::Parameter< float > | comOffsetX |
| Forward offset of the CoM in front of the hip line. | |
| config_server::Parameter< float > | comOffsetZ |
| Height of the CoM above the hip line. | |
| config_server::Parameter< float > | footWidth |
| Width of the robot foot (along y-axis, the foot plate is assumed to be rectangular) | |
| config_server::Parameter< float > | footLength |
| Length of the robot foot (along x-axis, the foot plate is assumed to be rectangular) | |
| config_server::Parameter< float > | footOffsetX |
| Backward offset from the foot plate geometric center to the ankle joint (along x-axis) | |
| config_server::Parameter< float > | footOffsetY |
| Inward offset from the foot plate geometric center to the ankle joint (along y-axis) | |
| config_server::Parameter< float > | footOffsetZ |
| Upward offset from the foot plate geometric center to the ankle joint (along z-axis) | |
| config_server::Parameter< float > | neckHeight |
| Height of the neck joint vertically above the center of the shoulder line (not for analytic calculation) | |
| config_server::Parameter< float > | headOffsetX |
| Forward offset from the neck joint to the center of the head (not for analytic calculation) | |
| config_server::Parameter< float > | headOffsetZ |
| Upward offset from the neck joint to the center of the head (not for analytic calculation) | |
Robot visualisation parameters | |
| config_server::Parameter< float > | armThickness |
| Approximate thickness of the arm segments (not for analytic calculation) | |
| config_server::Parameter< float > | legThickness |
| Approximate thickness of the leg segments (not for analytic calculation) | |
| config_server::Parameter< float > | headDiameter |
| Approximate diameter of the head (not for analytic calculation) | |
| config_server::Parameter< float > | jointDiameter |
| Diameter of the joints (not for analytic calculation) | |
| config_server::Parameter< float > | visOffsetX |
| Global x offset to the robot model where the RobotModelVis visualisation should be displayed. | |
| config_server::Parameter< float > | visOffsetY |
| Global y offset to the robot model where the RobotModelVis visualisation should be displayed. | |
| config_server::Parameter< float > | visOffsetZ |
| Global z offset to the robot model where the RobotModelVis visualisation should be displayed. | |
| config_server::Parameter< bool > | markVectors |
| Boolean flag whether to publish arrow markers showing the various vector quantities of the robot model. | |
Robot model parameters | |
| config_server::Parameter< float > | footHeightHysteresis |
| The minimum required foot height difference in the robot model to unlock the possibility of the model performing a support exchange. | |
General gait parameters | |
| config_server::Parameter< bool > | enableMotionStances |
| Boolean flag whether to enable the use of motion stances (changes to the halt pose during stopping to allow a particular follow-up motion to be played) | |
| config_server::Parameter< float > | gaitFrequency |
| Nominal frequency of the gait. | |
| config_server::Parameter< float > | gaitFrequencyMax |
| Maximum allowed frequency of the gait. | |
| config_server::Parameter< bool > | leftLegFirst |
| Flag specifying whether the first leg to step with when starting walking should be the left leg. | |
| config_server::Parameter< float > | stanceAdjustGcvMax |
| The maximum GCV at which stance adjustments are allowed to occur during stopping. | |
| config_server::Parameter< float > | stanceAdjustRate |
| The dimensionless rate at which motion stance adjustment occurs while stopping walking. | |
| config_server::Parameter< float > | stoppingGcvMag |
| Unbiased gait command velocity 2-norm below which immediate walk stopping is allowed. | |
| config_server::Parameter< float > | stoppingPhaseTolLB |
| Gait phase tolerance below 0 and π, in units of nominal phase increments (see gaitFrequency and the robotcontrol cycle time), within which intelligent walking stopping is allowed. | |
| config_server::Parameter< float > | stoppingPhaseTolUB |
| Gait phase tolerance above 0 and -π, in units of nominal phase increments (see gaitFrequency and the robotcontrol cycle time), within which intelligent walking stopping is allowed. | |
| config_server::Parameter< float > | supportCoeffRange |
| The required difference between the symmetric support coefficients during walking (e.g. if this is 0.8 the support coefficients transition between 0.1 and 0.9, as 0.9 - 0.1 = 0.8 and 0.9 + 0.1 = 1.0) | |
| config_server::Parameter< bool > | useServoModel |
Flag specifying whether to use raw joint commands (i.e. no servo model, false), or use the servo model (true) | |
Gait command vector parameters | |
| config_server::Parameter< float > | gcvBiasLinVelX |
| Bias added to the linear x-velocity component of the received gait command vector so as to produce zero observable robot velocity for zero velocity command. | |
| config_server::Parameter< float > | gcvBiasLinVelY |
| Bias added to the linear y-velocity component of the received gait command vector so as to produce zero observable robot velocity for zero velocity command. | |
| config_server::Parameter< float > | gcvBiasAngVelZ |
| Bias added to the angular z-velocity component of the received gait command vector so as to produce zero observable robot velocity for zero velocity command. | |
| config_server::Parameter< float > | gcvAccForwards |
| Gait command acceleration limit for positive linear x command velocities (scale by gcvDecToAccRatio to get the deceleration limit) | |
| config_server::Parameter< float > | gcvAccBackwards |
| Gait command acceleration limit for negative linear x command velocities (scale by gcvDecToAccRatio to get the deceleration limit) | |
| config_server::Parameter< float > | gcvAccSidewards |
| Gait command acceleration limit for linear y command velocities (scale by gcvDecToAccRatio to get the deceleration limit) | |
| config_server::Parameter< float > | gcvAccRotational |
| Gait command acceleration limit for angular z command velocities (scale by gcvDecToAccRatio to get the deceleration limit) | |
| config_server::Parameter< float > | gcvDecToAccRatio |
| Multiplicative scale factor to obtain the gait command deceleration limits from the gait command acceleration limits. | |
| config_server::Parameter< float > | gcvAccJerkLimitX |
| Jerk (acceleration slope) limit for the calculation of the gait command acceleration from m_gcv (linear X direction) | |
| config_server::Parameter< float > | gcvAccJerkLimitY |
| Jerk (acceleration slope) limit for the calculation of the gait command acceleration from m_gcv (linear Y direction) | |
| config_server::Parameter< float > | gcvAccJerkLimitZ |
| Jerk (acceleration slope) limit for the calculation of the gait command acceleration from m_gcv (angular Z direction) | |
| config_server::Parameter< float > | gcvPrescalerLinVelX |
| Prescaler for the gcv linear velocity X that is then used by the open loop gait (allows easy scaling of the dynamic range of the gait) | |
| config_server::Parameter< float > | gcvPrescalerLinVelY |
| Prescaler for the gcv linear velocity Y that is then used by the open loop gait (allows easy scaling of the dynamic range of the gait) | |
| config_server::Parameter< float > | gcvPrescalerAngVelZ |
| Prescaler for the gcv angular velocity Z that is then used by the open loop gait (allows easy scaling of the dynamic range of the gait) | |
Limb limit parameters | |
| config_server::Parameter< float > | limArmAngleXBuf |
Angle buffer for soft limiting of the arm angle X to be commanded by the gait (see rc_utils::coerceSoft) | |
| config_server::Parameter< float > | limArmAngleXMax |
| Maximum allowed arm angle X to be commanded by the gait (for left arm) | |
| config_server::Parameter< float > | limArmAngleXMin |
| Minimum allowed arm angle X to be commanded by the gait (for left arm) | |
| config_server::Parameter< bool > | limArmAngleXUseLimits |
| Boolean flag whether to use the specified arm angle X min/max limits. | |
| config_server::Parameter< float > | limArmAngleYBuf |
Angle buffer for soft limiting of the arm angle Y to be commanded by the gait (see rc_utils::coerceSoft) | |
| config_server::Parameter< float > | limArmAngleYMax |
| Maximum allowed arm angle Y to be commanded by the gait. | |
| config_server::Parameter< float > | limArmAngleYMin |
| Minimum allowed arm angle Y to be commanded by the gait. | |
| config_server::Parameter< bool > | limArmAngleYUseLimits |
| Boolean flag whether to use the specified arm angle Y min/max limits. | |
| config_server::Parameter< float > | limFootAngleXBuf |
Angle buffer for soft limiting of the foot angle X to be commanded by the gait (see rc_utils::coerceSoft) | |
| config_server::Parameter< float > | limFootAngleXMax |
| Maximum allowed foot angle X to be commanded by the gait (for left foot) | |
| config_server::Parameter< float > | limFootAngleXMin |
| Minimum allowed foot angle X to be commanded by the gait (for left foot) | |
| config_server::Parameter< bool > | limFootAngleXUseLimits |
| Boolean flag whether to use the specified foot angle X min/max limits. | |
| config_server::Parameter< float > | limFootAngleYBuf |
Angle buffer for soft limiting of the foot angle Y to be commanded by the gait (see rc_utils::coerceSoft) | |
| config_server::Parameter< float > | limFootAngleYMax |
| Maximum allowed foot angle Y to be commanded by the gait. | |
| config_server::Parameter< float > | limFootAngleYMin |
| Minimum allowed foot angle Y to be commanded by the gait. | |
| config_server::Parameter< bool > | limFootAngleYUseLimits |
| Boolean flag whether to use the specified foot angle Y min/max limits. | |
| config_server::Parameter< float > | limLegAngleXBuf |
Angle buffer for soft limiting of the leg angle X to be commanded by the gait (see rc_utils::coerceSoft) | |
| config_server::Parameter< float > | limLegAngleXMax |
| Maximum allowed leg angle X to be commanded by the gait (for left leg) | |
| config_server::Parameter< float > | limLegAngleXMin |
| Minimum allowed leg angle X to be commanded by the gait (for left leg) | |
| config_server::Parameter< bool > | limLegAngleXUseLimits |
| Boolean flag whether to use the specified leg angle X min/max limits. | |
| config_server::Parameter< float > | limLegAngleYBuf |
Angle buffer for soft limiting of the leg angle Y to be commanded by the gait (see rc_utils::coerceSoft) | |
| config_server::Parameter< float > | limLegAngleYMax |
| Maximum allowed leg angle Y to be commanded by the gait. | |
| config_server::Parameter< float > | limLegAngleYMin |
| Minimum allowed leg angle Y to be commanded by the gait. | |
| config_server::Parameter< bool > | limLegAngleYUseLimits |
| Boolean flag whether to use the specified leg angle Y min/max limits. | |
| config_server::Parameter< float > | limLegExtBuf |
Buffer for soft limiting of the leg extension to be commanded by the gait (see rc_utils::coerceSoftMin) | |
| config_server::Parameter< float > | limLegExtMin |
| Minimum allowed leg extension to be commanded by the gait. | |
| config_server::Parameter< bool > | limLegExtUseLimits |
| Boolean flag whether to use the specified leg extension min limit. | |
Gait phase parameters | |
| config_server::Parameter< float > | startBlendPhaseLen |
| The amount of time, in terms of gait phase, to take to blend from the halt pose to the moving calculated gait pose during start of walking. | |
| config_server::Parameter< float > | stopBlendPhaseLen |
| The amount of time, in terms of gait phase, to take to blend from the moving calculated gait pose to the halt pose after cessation of walking. | |
| config_server::Parameter< float > | doubleSupportPhaseLen |
| Length of the double support phase. | |
| config_server::Parameter< float > | swingStartPhaseOffset |
| Offset from the end of the double support phase to the start of the swing phase. | |
| config_server::Parameter< float > | swingStopPhaseOffset |
| Offset from the start of the double support phase back to the end of the previous swing phase (a positive value means the double support phase starts that amount after the end of swing) | |
| config_server::Parameter< float > | swingMinPhaseLen |
| Minimum allowed length of the swing phase (used as a check only, should have no effect on gait phase timing if there is no violation) | |
| config_server::Parameter< float > | suppTransStartRatio |
| Ratio that governs the start of support transitioning, via linear interpolation (0 => At start of double support phase, 1 => At end of immediately preceding end of swing phase) | |
| config_server::Parameter< float > | suppTransStopRatio |
| Ratio that governs the stop of support transitioning, via linear interpolation (0 => At end of double support phase, 1 => At start of immediately following start of swing phase) | |
| config_server::Parameter< float > | filletStepPhaseLen |
| Nominal size, in terms of approximate phase duration, of the fillets to the leg extension stepping waveform. | |
| config_server::Parameter< float > | filletPushPhaseLen |
| Nominal size, in terms of approximate phase duration, of the fillets to the leg extension pushing waveform. | |
Halt pose parameters | |
| config_server::Parameter< float > | haltArmExtension |
| Halt pose: Extension of the arms (0 = Fully extended, 1 = Fully contracted, see AbstractArmPose) | |
| config_server::Parameter< float > | haltArmAngleX |
| Halt pose: Roll angle of the arms (positive is away from the body for both arms) | |
| config_server::Parameter< float > | haltArmAngleXBias |
| Halt pose: Additive anti-symmetric roll angle of the arms (positive is a roll rotation about the positive x axis) | |
| config_server::Parameter< float > | haltArmAngleY |
| Halt pose: Pitch angle of the central axis of the arms (positive is moving the arms towards the back for both arms) | |
| config_server::Parameter< float > | haltLegExtension |
| Halt pose: Extension of the legs (0 = Fully extended, 1 = Fully contracted, see AbstractLegPose) | |
| config_server::Parameter< float > | haltLegExtensionBias |
| Halt pose: Additive one-sided bias of the extension of one of the legs (+ve = Left leg only is shortened by this amount, -ve = Right leg only is shortened by this amount) | |
| config_server::Parameter< float > | haltLegAngleX |
| Halt pose: Roll angle of the legs (positive is away from the body for both legs) | |
| config_server::Parameter< float > | haltLegAngleXBias |
| Halt pose: Additive anti-symmetric roll angle of the legs (positive is a roll rotation about the positive x axis) | |
| config_server::Parameter< float > | haltLegAngleXNarrow |
| Halt pose: Roll angle of the legs (positive is away from the body for both legs) for the narrow feet halt pose. | |
| config_server::Parameter< float > | haltLegAngleY |
| Halt pose: Pitch angle of the central axis of the legs (positive is moving the legs towards the back for both legs) | |
| config_server::Parameter< float > | haltLegAngleZ |
| Halt pose: Yaw angle of the legs (toe-out is positive for both legs) | |
| config_server::Parameter< float > | haltFootAngleX |
| Halt pose: Roll angle of the feet relative to the trunk (positive is tilting onto the inner feet for both feet) | |
| config_server::Parameter< float > | haltFootAngleXBias |
| Halt pose: Additive anti-symmetric roll angle of the feet relative to the trunk (positive is a roll rotation about the positive x axis) | |
| config_server::Parameter< float > | haltFootAngleY |
| Halt pose: Pitch angle of the feet relative to the trunk (positive is what would make the robot lean back for both feet) | |
| config_server::Parameter< float > | haltEffortArm |
Halt pose: Joint effort to use for the arms (in the range [0,1]) | |
| config_server::Parameter< float > | haltEffortHipYaw |
Halt pose: Joint effort to use for the leg hip yaw (in the range [0,1]) | |
| config_server::Parameter< float > | haltEffortHipRoll |
Halt pose: Joint effort to use for the leg hip roll (in the range [0,1]) | |
| config_server::Parameter< float > | haltEffortHipPitch |
Halt pose: Joint effort to use for the leg hip pitch (in the range [0,1]) | |
| config_server::Parameter< float > | haltEffortKneePitch |
Halt pose: Joint effort to use for the leg knee pitch (in the range [0,1]) | |
| config_server::Parameter< float > | haltEffortAnklePitch |
Halt pose: Joint effort to use for the leg ankle pitch (in the range [0,1]) | |
| config_server::Parameter< float > | haltEffortAnkleRoll |
Halt pose: Joint effort to use for the leg ankle roll (in the range [0,1]) | |
Arm motion parameters | |
| config_server::Parameter< float > | armSagSwingMag |
| Magnitude in radians of the arm swing to use at zero biased gait command velocity (for a total peak-to-peak swing of double this value) | |
| config_server::Parameter< float > | armSagSwingMagGradX |
| Gradient of armSagSwingMag with respect to the biased gait command x-velocity. | |
Leg motion parameters | |
| config_server::Parameter< float > | legExtToAngleYGain |
| Gain that determines how much the leg extension is also applied to the leg angle Y in order to modify the angle at which the robot lifts its feet, and thereby trim walking on the spot in the sagittal direction. | |
| config_server::Parameter< float > | legHipAngleXLegExtGain |
| Gain that determines how much the appropriate leg is shortened to try to keep the feet level vertically when applying hip angle X. | |
| config_server::Parameter< float > | legStepHeight |
| Nominal swing leg step height (out of the ground, in units of leg extension) to use at zero biased gait command velocity. | |
| config_server::Parameter< float > | legStepHeightGradX |
| Gradient of legStepHeight with respect to the absolute biased gait command x-velocity. | |
| config_server::Parameter< float > | legStepHeightGradY |
| Gradient of legStepHeight with respect to the absolute biased gait command y-velocity. | |
| config_server::Parameter< float > | legPushHeight |
| Nominal support leg push height (into the ground, in units of leg extension) to use at zero biased gait command velocity. | |
| config_server::Parameter< float > | legPushHeightGradX |
| Gradient of legPushHeight with respect to the absolute biased gait command x-velocity. | |
| config_server::Parameter< float > | legSagSwingMagGradXBwd |
| Gradient of the sagittal leg swing magnitude (nominally zero radians) with respect to the biased gait command x-velocity, when this velocity is negative (backwards walking) | |
| config_server::Parameter< float > | legSagSwingMagGradXFwd |
| Gradient of the sagittal leg swing magnitude (nominally zero radians) with respect to the biased gait command x-velocity, when this velocity is positive (forwards walking) | |
| config_server::Parameter< float > | legSagLeanGradAccXBwd |
| Gradient of the sagittal lean (nominally zero radians) with respect to the gait command x-acceleration, when this acceleration is negative (backwards acceleration) | |
| config_server::Parameter< float > | legSagLeanGradAccXFwd |
| Gradient of the sagittal lean (nominally zero radians) with respect to the gait command x-acceleration, when this acceleration is positive (forwards acceleration) | |
| config_server::Parameter< float > | legSagLeanGradVelXBwd |
| Gradient of the sagittal lean (nominally zero radians) with respect to the biased gait command x-velocity, when this velocity is negative (backwards velocity) | |
| config_server::Parameter< float > | legSagLeanGradVelXFwd |
| Gradient of the sagittal lean (nominally zero radians) with respect to the biased gait command x-velocity, when this velocity is positive (forwards velocity) | |
| config_server::Parameter< float > | legSagLeanGradVelZAbs |
| Gradient of the sagittal lean (nominally zero radians) with respect to the absolute value of the biased gait command z-velocity. | |
| config_server::Parameter< float > | legLatSwingMagGradY |
| Gradient of the lateral leg swing magnitude (nominally zero radians) with respect to the biased gait command y-velocity. | |
| config_server::Parameter< float > | legLatHipSwingBias |
| Constant bias to the lateral hip swing waveform (hip roll angle, units of radians), used to try to correct for robot walking asymmetries. | |
| config_server::Parameter< float > | legLatHipSwingMag |
| Nominal lateral hip swing magnitude (hip roll angle, units of radians) to use at zero biased gait command velocity. | |
| config_server::Parameter< float > | legLatHipSwingMagGradX |
| Gradient of the lateral hip swing magnitude with respect to the absolute biased gait command x-velocity. | |
| config_server::Parameter< float > | legLatHipSwingMagGradY |
| Gradient of the lateral hip swing magnitude with respect to the absolute biased gait command y-velocity. | |
| config_server::Parameter< float > | legLatPushoutMagGradX |
| Gradient of the outwards hip-roll-based lateral leg pushout (nominally zero radians) with respect to the absolute biased gait command x-velocity. | |
| config_server::Parameter< float > | legLatPushoutMagGradY |
| Gradient of the outwards hip-roll-based lateral leg pushout (nominally zero radians) with respect to the absolute biased gait command y-velocity. | |
| config_server::Parameter< float > | legLatPushoutMagGradZ |
| Gradient of the outwards hip-roll-based lateral leg pushout (nominally zero radians) with respect to the absolute biased gait command z-velocity. | |
| config_server::Parameter< float > | legLatLeanGradXZBwd |
| Gradient of the lateral lean (nominally zero radians) with respect to the biased gait command x (absolute) and z (signed) velocities, when the x-velocity is negative. | |
| config_server::Parameter< float > | legLatLeanGradXZFwd |
| Gradient of the lateral lean (nominally zero radians) with respect to the biased gait command x (absolute) and z (signed) velocities, when the x-velocity is positive. | |
| config_server::Parameter< float > | legRotSwingMagGradZ |
| Gradient of the rotational leg swing magnitude (nominally zero radians) with respect to the biased gait command z-velocity. | |
| config_server::Parameter< float > | legRotVPushoutMagGradZ |
| Gradient of the rotational leg V pushout magnitude (nominally zero radians) with respect to the absolute biased gait command z-velocity. | |
Tuning parameters | |
| config_server::Parameter< bool > | tuningNoArms |
| Disable all gait arm motions. | |
| config_server::Parameter< bool > | tuningNoArmSwing |
| Disable all arm swing components. | |
| config_server::Parameter< bool > | tuningNoArmFeedback |
| Disable all arm basic feedback components. | |
| config_server::Parameter< bool > | tuningNoLegs |
| Disable all gait leg motions. | |
| config_server::Parameter< bool > | tuningNoLegLifting |
| Disable all leg lifting. | |
| config_server::Parameter< bool > | tuningNoLegSwing |
| Disable all leg swing components. | |
| config_server::Parameter< bool > | tuningNoLegHipSwing |
| Disable all leg hip swing components. | |
| config_server::Parameter< bool > | tuningNoLegPushout |
| Disable all leg pushout components. | |
| config_server::Parameter< bool > | tuningNoLegLeaning |
| Disable all leg leaning components. | |
| config_server::Parameter< bool > | tuningNoLegVirtual |
| Disable all leg virtual slope components. | |
| config_server::Parameter< bool > | tuningNoLegFeedback |
| Disable all leg basic feedback components. | |
| config_server::Parameter< bool > | tuningNoLegSuppCoeff |
| Disable all variations in the leg support coefficients (makes them equal by default instead) | |
Basic feedback parameters | |
| config_server::Parameter< bool > | basicGlobalEnable |
| config_server::Parameter< bool > | basicEnableArmAngleX |
| config_server::Parameter< bool > | basicEnableArmAngleY |
| config_server::Parameter< bool > | basicEnableComShiftX |
| config_server::Parameter< bool > | basicEnableComShiftY |
| config_server::Parameter< bool > | basicEnableFootAngleCX |
| config_server::Parameter< bool > | basicEnableFootAngleCY |
| config_server::Parameter< bool > | basicEnableFootAngleX |
| config_server::Parameter< bool > | basicEnableFootAngleY |
| config_server::Parameter< bool > | basicEnableHipAngleX |
| config_server::Parameter< bool > | basicEnableHipAngleY |
| config_server::Parameter< bool > | basicEnableTiming |
| config_server::Parameter< bool > | basicEnableVirtualSlope |
| config_server::Parameter< float > | basicFeedBiasArmAngleX |
| config_server::Parameter< float > | basicFeedBiasArmAngleY |
| config_server::Parameter< float > | basicFeedBiasComShiftX |
| config_server::Parameter< float > | basicFeedBiasComShiftY |
| config_server::Parameter< float > | basicFeedBiasFootAngleX |
| config_server::Parameter< float > | basicFeedBiasFootAngleY |
| config_server::Parameter< float > | basicFeedBiasFootAngCX |
| config_server::Parameter< float > | basicFeedBiasFootAngCY |
| config_server::Parameter< float > | basicFeedBiasHipAngleX |
| config_server::Parameter< float > | basicFeedBiasHipAngleY |
| config_server::Parameter< bool > | basicFusedEnabledLat |
| config_server::Parameter< bool > | basicFusedEnabledSag |
| config_server::Parameter< int > | basicFusedFilterN |
| config_server::Parameter< float > | basicFusedDeadRadiusX |
| config_server::Parameter< float > | basicFusedDeadRadiusY |
| config_server::Parameter< float > | basicFusedExpXSinMag |
| config_server::Parameter< float > | basicFusedExpYSinMag |
| config_server::Parameter< float > | basicFusedExpXSinOffset |
| config_server::Parameter< float > | basicFusedExpYSinOffset |
| config_server::Parameter< float > | basicFusedExpXSinPhase |
| config_server::Parameter< float > | basicFusedExpYSinPhase |
| config_server::Parameter< float > | basicFusedGainAllLat |
| config_server::Parameter< float > | basicFusedGainAllSag |
| config_server::Parameter< float > | basicFusedArmAngleX |
| config_server::Parameter< float > | basicFusedArmAngleY |
| config_server::Parameter< float > | basicFusedComShiftX |
| config_server::Parameter< float > | basicFusedComShiftY |
| config_server::Parameter< float > | basicFusedFootAngleX |
| config_server::Parameter< float > | basicFusedFootAngleY |
| config_server::Parameter< float > | basicFusedHipAngleX |
| config_server::Parameter< float > | basicFusedHipAngleY |
| config_server::Parameter< bool > | basicDFusedEnabledLat |
| config_server::Parameter< bool > | basicDFusedEnabledSag |
| config_server::Parameter< int > | basicDFusedFilterN |
| config_server::Parameter< float > | basicDFusedDeadRadiusX |
| config_server::Parameter< float > | basicDFusedDeadRadiusY |
| config_server::Parameter< float > | basicDFusedGainAllLat |
| config_server::Parameter< float > | basicDFusedGainAllSag |
| config_server::Parameter< float > | basicDFusedArmAngleX |
| config_server::Parameter< float > | basicDFusedArmAngleY |
| config_server::Parameter< float > | basicDFusedComShiftX |
| config_server::Parameter< float > | basicDFusedComShiftY |
| config_server::Parameter< float > | basicDFusedFootAngleX |
| config_server::Parameter< float > | basicDFusedFootAngleY |
| config_server::Parameter< float > | basicDFusedHipAngleX |
| config_server::Parameter< float > | basicDFusedHipAngleY |
| config_server::Parameter< bool > | basicIFusedEnabledLat |
| config_server::Parameter< bool > | basicIFusedEnabledSag |
| config_server::Parameter< int > | basicIFusedFilterN |
| config_server::Parameter< float > | basicIFusedHalfLifeTime |
| config_server::Parameter< float > | basicIFusedTimeToDecay |
| config_server::Parameter< float > | basicIFusedTimeToFreeze |
| config_server::Parameter< float > | basicIFusedGainAllLat |
| config_server::Parameter< float > | basicIFusedGainAllSag |
| config_server::Parameter< float > | basicIFusedArmAngleX |
| config_server::Parameter< float > | basicIFusedArmAngleY |
| config_server::Parameter< float > | basicIFusedComShiftX |
| config_server::Parameter< float > | basicIFusedComShiftY |
| config_server::Parameter< float > | basicIFusedFootAngleCX |
| config_server::Parameter< float > | basicIFusedFootAngleCY |
| config_server::Parameter< float > | basicIFusedFootAngleX |
| config_server::Parameter< float > | basicIFusedFootAngleY |
| config_server::Parameter< float > | basicIFusedHipAngleX |
| config_server::Parameter< float > | basicIFusedHipAngleY |
| config_server::Parameter< bool > | basicGyroEnabledLat |
| config_server::Parameter< bool > | basicGyroEnabledSag |
| config_server::Parameter< int > | basicGyroFilterN |
| config_server::Parameter< float > | basicGyroDeadRadiusX |
| config_server::Parameter< float > | basicGyroDeadRadiusY |
| config_server::Parameter< float > | basicGyroExpX |
| config_server::Parameter< float > | basicGyroExpY |
| config_server::Parameter< float > | basicGyroGainAllLat |
| config_server::Parameter< float > | basicGyroGainAllSag |
| config_server::Parameter< float > | basicGyroArmAngleX |
| config_server::Parameter< float > | basicGyroArmAngleY |
| config_server::Parameter< float > | basicGyroComShiftX |
| config_server::Parameter< float > | basicGyroComShiftY |
| config_server::Parameter< float > | basicGyroFootAngleX |
| config_server::Parameter< float > | basicGyroFootAngleY |
| config_server::Parameter< float > | basicGyroHipAngleX |
| config_server::Parameter< float > | basicGyroHipAngleY |
| config_server::Parameter< float > | basicTimingFeedDeadRad |
| config_server::Parameter< float > | basicTimingGainSlowDown |
| config_server::Parameter< float > | basicTimingGainSpeedUp |
| config_server::Parameter< float > | basicTimingWeightFactor |
| config_server::Parameter< float > | basicComShiftXBuf |
| config_server::Parameter< float > | basicComShiftXMax |
| config_server::Parameter< float > | basicComShiftXMin |
| config_server::Parameter< bool > | basicComShiftXUseLimits |
| config_server::Parameter< float > | basicComShiftYBuf |
| config_server::Parameter< float > | basicComShiftYMax |
| config_server::Parameter< float > | basicComShiftYMin |
| config_server::Parameter< bool > | basicComShiftYUseLimits |
| config_server::Parameter< float > | basicFootAnglePhaseLen |
| config_server::Parameter< float > | virtualSlopeOffset |
| A constant offset to the virtual slope to continuously apply while walking. | |
| config_server::Parameter< float > | virtualSlopeGainAsc |
| Gradient of the virtual slope with respect to the fused pitch angle (after deadband has been applied) when walking up a virtual slope. | |
| config_server::Parameter< float > | virtualSlopeGainDsc |
| Gradient of the virtual slope with respect to the fused pitch angle (after deadband has been applied) when walking down a virtual slope. | |
| config_server::Parameter< float > | virtualSlopeMidAngle |
| Fused pitch angle for which the (offset-less) virtual slope should be zero. | |
| config_server::Parameter< float > | virtualSlopeMinAngle |
| Minimum radius of the fused pitch angle from virtualSlopeMidAngle before virtual slope starts being applied with a certain gradient (i.e. radius of deadband) | |
Capture step parameters | |
| config_server::Parameter< bool > | cmdAllowCLStepSizeX |
| config_server::Parameter< bool > | cmdUseCLStepSize |
| Boolean flag whether computed closed loop step sizes should be used to control the gait, or whether the internal gcv should just be controlled directly from the external gcv input (via maximum gcv acceleration rates) | |
| config_server::Parameter< bool > | cmdUseCLTiming |
| Boolean flag whether computed closed loop step timing should be used to control the gait, or whether the timing should just remain fixed at the nominal OL frequency. | |
| config_server::Parameter< bool > | cmdUseNonZeroZMP |
| Boolean flag whether the target ZMPs calculated in the LimpModel should be used during walking (i.e. not artificially zeroed right after they are calculated) | |
| config_server::Parameter< bool > | cmdUseRXFeedback |
| Boolean flag whether the capture gait feedback from RX to MX should be activated (i.e. whether adaptation is used) | |
| config_server::Parameter< bool > | cmdUseTXStepSize |
If cmdUseCLStepSize is true: Boolean flag whether the closed loop step size calculated by the TX model should be used, or just a fixed nominal CL step size. | |
| config_server::Parameter< bool > | cmdUseTXTiming |
If cmdUseCLTiming is true: Boolean flag whether the closed loop timing calculated by the TX model should be used, or just a fixed nominal CL timing. | |
| config_server::Parameter< float > | mgC |
| config_server::Parameter< float > | mgAlpha |
| config_server::Parameter< float > | mgDelta |
| config_server::Parameter< float > | mgOmega |
| config_server::Parameter< float > | mgSigma |
| config_server::Parameter< float > | mgGamma |
| config_server::Parameter< float > | mgLatency |
| config_server::Parameter< float > | mgZmpXMin |
| config_server::Parameter< float > | mgZmpXMax |
| config_server::Parameter< float > | mgZmpYMin |
| config_server::Parameter< float > | mgZmpYMax |
| config_server::Parameter< float > | mgComOffsetX |
| config_server::Parameter< float > | mgComOffsetY |
| config_server::Parameter< float > | mgComOffsetYBias |
| config_server::Parameter< float > | mgFusedOffsetX |
| config_server::Parameter< float > | mgFusedOffsetY |
| config_server::Parameter< float > | mgMaxStepRadiusX |
| config_server::Parameter< float > | mgMaxStepRadiusY |
| config_server::Parameter< float > | mgMaxComPositionX |
| config_server::Parameter< float > | mgPostStepStateCorrAng |
| config_server::Parameter< float > | nsGain |
| config_server::Parameter< float > | nsFusedXRangeLBnd |
| config_server::Parameter< float > | nsFusedXRangeUBnd |
| config_server::Parameter< float > | nsFusedYRangeLBnd |
| config_server::Parameter< float > | nsFusedYRangeUBnd |
| config_server::Parameter< float > | nsMaxAdaptation |
| config_server::Parameter< float > | nsAdaptationGain |
| config_server::Parameter< float > | nsStepNoiseTime |
Configuration struct for the capture step gait.
1.8.6 
