hrp2.hpp File Reference

Definitions of Hrp2 constants. More...

#include <deque>
#include <vector>
#include <boost/assert.hpp>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <state-observation/api.h>

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Classes
struct	stateObservation::hrp2::contact

Namespaces
namespace	stateObservation
	Filtering of divergent component of motion (DCM) and estimation of a bias betweeen the DCM and the corresponding zero moment point for a linearized inverted pendulum model.

Variables
constexpr double	stateObservation::hrp2::m = 56.8
	mass of the robot
constexpr double	stateObservation::hrp2::linKe = 40000
	stifness and damping
constexpr double	stateObservation::hrp2::angKe = 400
constexpr double	stateObservation::hrp2::linKv = 600
constexpr double	stateObservation::hrp2::angKv = 10

Detailed Description

Definitions of Hrp2 constants.

Author

Alexis Mifsud

Date

2014

Definition in file hrp2.hpp.

Variable Documentation

m

double stateObservation::hrp2::m = 56.8

constexpr

mass of the robot

Definition at line 36 of file hrp2.hpp.

linKe

double stateObservation::hrp2::linKe = 40000

constexpr

stifness and damping

Definition at line 39 of file hrp2.hpp.

angKe

double stateObservation::hrp2::angKe = 400

constexpr

Definition at line 40 of file hrp2.hpp.

linKv

double stateObservation::hrp2::linKv = 600

constexpr

Definition at line 41 of file hrp2.hpp.

angKv

double stateObservation::hrp2::angKv = 10

constexpr

Definition at line 42 of file hrp2.hpp.