ZmpControllerParams Struct Reference

#include <ZmpController.h>

List of all members.

Public Member Functions
	ZmpControllerParams (double kfx, double kfy, double kdx, double kdy, double m, double cz, double g, double controllerPeriod)
Public Attributes
double	kfx
double	kfy
double	kdx
double	kdy
double	m
double	cz
double	g
double	controllerPeriod

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Constructor & Destructor Documentation

ZmpControllerParams::ZmpControllerParams	(	double	kfx,
		double	kfy,
		double	kdx,
		double	kdy,
		double	m,
		double	cz,
		double	g,
		double	controllerPeriod
	)		[inline]

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Member Data Documentation

double ZmpControllerParams::controllerPeriod

Controller period in seconds

double ZmpControllerParams::cz

CoM height

double ZmpControllerParams::g

Gravity acceleration = 9.8m/s^2

double ZmpControllerParams::kdx

double ZmpControllerParams::kdy

double ZmpControllerParams::kfx

Positive force control gain in the x direction

double ZmpControllerParams::kfy

Positive force control gain in the y direction

double ZmpControllerParams::m

Total mass of the robot

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

• ocra-wbi-plugins/ocra-icub-clients/walking-client/include/walking-client/ZmpController.h