diff --git a/cart__pos__ctrl__hls__solver_8py.html b/cart__pos__ctrl__hls__solver_8py.html new file mode 100644 index 0000000..a949190 --- /dev/null +++ b/cart__pos__ctrl__hls__solver_8py.html @@ -0,0 +1,145 @@ + + + + + + + +wbc: examples/kuka_iiwa/cart_pos_ctrl_hls_solver.py File Reference + + + + + + + + + + + +
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+Namespaces | +Variables
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cart_pos_ctrl_hls_solver.py File Reference
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+Namespaces

namespace  cart_pos_ctrl_hls_solver
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Variables

 cart_pos_ctrl_hls_solver.robot_model = RobotModelRBDL()
 
 cart_pos_ctrl_hls_solver.r = RobotModelConfig()
 
 cart_pos_ctrl_hls_solver.file_or_string
 
 cart_pos_ctrl_hls_solver.solver = HierarchicalLSSolver()
 
 cart_pos_ctrl_hls_solver.cfg = TaskConfig()
 
 cart_pos_ctrl_hls_solver.name
 
 cart_pos_ctrl_hls_solver.root
 
 cart_pos_ctrl_hls_solver.tip
 
 cart_pos_ctrl_hls_solver.ref_frame
 
 cart_pos_ctrl_hls_solver.priority
 
 cart_pos_ctrl_hls_solver.activation
 
 cart_pos_ctrl_hls_solver.type
 
 cart_pos_ctrl_hls_solver.weights
 
 cart_pos_ctrl_hls_solver.scene = VelocityScene(robot_model, solver, 0.001)
 
 cart_pos_ctrl_hls_solver.ctrl = CartesianPosPDController()
 
 cart_pos_ctrl_hls_solver.setpoint = RigidBodyStateSE3()
 
 cart_pos_ctrl_hls_solver.position
 
 cart_pos_ctrl_hls_solver.orientation
 
 cart_pos_ctrl_hls_solver.feedback = RigidBodyStateSE3()
 
 cart_pos_ctrl_hls_solver.control_output = RigidBodyStateSE3()
 
 cart_pos_ctrl_hls_solver.joint_state = Joints()
 
 cart_pos_ctrl_hls_solver.js = JointState()
 
 cart_pos_ctrl_hls_solver.elements
 
 cart_pos_ctrl_hls_solver.names
 
 cart_pos_ctrl_hls_solver.start = time.time()
 
float cart_pos_ctrl_hls_solver.sample_time = 0.01
 
 cart_pos_ctrl_hls_solver.qp = scene.update()
 
 cart_pos_ctrl_hls_solver.solver_output = scene.solve(qp)
 
+
+ +
+Generated by doxygen 1.12.0 +
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+Files

 cart_pos_ctrl_hls_solver.py
 
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+Generated by doxygen 1.12.0 +
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examples Directory Reference
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+Directories

 kuka_iiwa
 
 rh5
 
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+Generated by doxygen 1.12.0 +
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rh5 Directory Reference
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+Files

 rh5_legs_floating_base.py
 
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+ +
+Generated by doxygen 1.12.0 +
+
+ + diff --git a/doxygen_crawl.html b/doxygen_crawl.html index 4905976..9ff47fd 100644 --- a/doxygen_crawl.html +++ b/doxygen_crawl.html @@ -22,6 +22,8 @@ + + @@ -52,6 +54,7 @@ + @@ -83,6 +86,7 @@ + @@ -113,9 +117,12 @@ + + + @@ -128,9 +135,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -191,6 +227,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -262,6 +327,7 @@ + @@ -274,6 +340,8 @@ + + @@ -295,14 +363,84 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -320,6 +458,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/files.html b/files.html index 5b53053..323272a 100644 --- a/files.html +++ b/files.html @@ -65,49 +65,54 @@
Here is a list of all files with brief descriptions:
[detail level 1234]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
 ▼ src
 ▼ controllers
 controllers.cpp
 controllers.hpp
 ▼ core
 core.cpp
 ▼ robot_models
 ▼ rbdl
 robot_model_rbdl.cpp
 robot_model_rbdl.hpp
 __init__.py
 ▼ scenes
 ▼ acceleration
 acceleration_scene.cpp
 acceleration_scene.hpp
 ▼ acceleration_reduced_tsid
 acceleration_scene_reduced_tsid.cpp
 acceleration_scene_reduced_tsid.hpp
 ▼ acceleration_tsid
 acceleration_scene_tsid.cpp
 acceleration_scene_tsid.hpp
 ▼ velocity
 velocity_scene.cpp
 velocity_scene.hpp
 ▼ velocity_qp
 velocity_scene_qp.cpp
 velocity_scene_qp.hpp
 __init__.py
 ▼ solvers
 ▼ hls
 HierarchicalLSSolver.cpp
 HierarchicalLSSolver.hpp
 solvers.cpp
 solvers.hpp
 ▼ qpoases
 QPOasesSolver.cpp
 QPOasesSolver.hpp
 __init__.py
 __init__.py
 base_types_conversion.h
 eigen_conversion.h
 std_vector_conversion.h
 wbc_types_conversions.h
 ▼ examples
 ▼ kuka_iiwa
 cart_pos_ctrl_hls_solver.py
 ▼ rh5
 rh5_legs_floating_base.py
 ▼ src
 ▼ controllers
 controllers.cpp
 controllers.hpp
 ▼ core
 core.cpp
 ▼ robot_models
 ▼ rbdl
 robot_model_rbdl.cpp
 robot_model_rbdl.hpp
 __init__.py
 ▼ scenes
 ▼ acceleration
 acceleration_scene.cpp
 acceleration_scene.hpp
 ▼ acceleration_reduced_tsid
 acceleration_scene_reduced_tsid.cpp
 acceleration_scene_reduced_tsid.hpp
 ▼ acceleration_tsid
 acceleration_scene_tsid.cpp
 acceleration_scene_tsid.hpp
 ▼ velocity
 velocity_scene.cpp
 velocity_scene.hpp
 ▼ velocity_qp
 velocity_scene_qp.cpp
 velocity_scene_qp.hpp
 __init__.py
 ▼ solvers
 ▼ hls
 HierarchicalLSSolver.cpp
 HierarchicalLSSolver.hpp
 solvers.cpp
 solvers.hpp
 ▼ qpoases
 QPOasesSolver.cpp
 QPOasesSolver.hpp
 __init__.py
 __init__.py
 base_types_conversion.h
 eigen_conversion.h
 std_vector_conversion.h
 wbc_types_conversions.h
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+
+ + + + + + +
+
wbc +
+
+
+ + + + + + + + +
+
+
+
+Variables
+
cart_pos_ctrl_hls_solver Namespace Reference
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Variables

 robot_model = RobotModelRBDL()
 
 r = RobotModelConfig()
 
 file_or_string
 
 solver = HierarchicalLSSolver()
 
 cfg = TaskConfig()
 
 name
 
 root
 
 tip
 
 ref_frame
 
 priority
 
 activation
 
 type
 
 weights
 
 scene = VelocityScene(robot_model, solver, 0.001)
 
 ctrl = CartesianPosPDController()
 
 setpoint = RigidBodyStateSE3()
 
 position
 
 orientation
 
 feedback = RigidBodyStateSE3()
 
 control_output = RigidBodyStateSE3()
 
 joint_state = Joints()
 
 js = JointState()
 
 elements
 
 names
 
 start = time.time()
 
float sample_time = 0.01
 
 qp = scene.update()
 
 solver_output = scene.solve(qp)
 
+

Variable Documentation

+ +

◆ activation

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.activation
+
+ +
+
+ +

◆ cfg

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.cfg = TaskConfig()
+
+ +
+
+ +

◆ control_output

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.control_output = RigidBodyStateSE3()
+
+ +
+
+ +

◆ ctrl

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.ctrl = CartesianPosPDController()
+
+ +
+
+ +

◆ elements

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.elements
+
+ +
+
+ +

◆ feedback

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.feedback = RigidBodyStateSE3()
+
+ +
+
+ +

◆ file_or_string

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.file_or_string
+
+ +
+
+ +

◆ joint_state

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.joint_state = Joints()
+
+ +
+
+ +

◆ js

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.js = JointState()
+
+ +
+
+ +

◆ name

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.name
+
+ +
+
+ +

◆ names

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.names
+
+ +
+
+ +

◆ orientation

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.orientation
+
+ +
+
+ +

◆ position

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.position
+
+ +
+
+ +

◆ priority

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.priority
+
+ +
+
+ +

◆ qp

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.qp = scene.update()
+
+ +
+
+ +

◆ r

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.r = RobotModelConfig()
+
+ +
+
+ +

◆ ref_frame

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.ref_frame
+
+ +
+
+ +

◆ robot_model

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.robot_model = RobotModelRBDL()
+
+ +
+
+ +

◆ root

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.root
+
+ +
+
+ +

◆ sample_time

+ +
+
+ + + + +
float cart_pos_ctrl_hls_solver.sample_time = 0.01
+
+ +
+
+ +

◆ scene

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.scene = VelocityScene(robot_model, solver, 0.001)
+
+ +
+
+ +

◆ setpoint

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.setpoint = RigidBodyStateSE3()
+
+ +
+
+ +

◆ solver

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.solver = HierarchicalLSSolver()
+
+ +
+
+ +

◆ solver_output

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.solver_output = scene.solve(qp)
+
+ +
+
+ +

◆ start

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.start = time.time()
+
+ +
+
+ +

◆ tip

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.tip
+
+ +
+
+ +

◆ type

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.type
+
+ +
+
+ +

◆ weights

+ +
+
+ + + + +
cart_pos_ctrl_hls_solver.weights
+
+ +
+
+
+ +
+Generated by doxygen 1.12.0 +
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wbc +
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Here is a list of all namespace variables with links to the namespace documentation for each variable:
+ +

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+Generated by doxygen 1.12.0 +
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+ + diff --git a/namespacerh5__legs__floating__base.html b/namespacerh5__legs__floating__base.html new file mode 100644 index 0000000..b7e9f7c --- /dev/null +++ b/namespacerh5__legs__floating__base.html @@ -0,0 +1,706 @@ + + + + + + + +wbc: rh5_legs_floating_base Namespace Reference + + + + + + + + + + + +
+
+ + + + + + +
+
wbc +
+
+
+ + + + + + + + +
+
+
+
+Variables
+
rh5_legs_floating_base Namespace Reference
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Variables

 floating_base_state = RigidBodyStateSE3()
 
 position
 
 orientation
 
 linear
 
 angular
 
 robot_model = RobotModelRBDL()
 
 r = RobotModelConfig()
 
 file_or_string
 
 floating_base
 
 contacts = ActiveContacts()
 
 names
 
 a = ActiveContact()
 
 mu
 
 active
 
 elements = []
 
 contact_points
 
 solver = QPOASESSolver()
 
 cfg = TaskConfig()
 
 name
 
 root
 
 tip
 
 ref_frame
 
 priority
 
 activation
 
 type
 
 weights
 
 scene = AccelerationSceneTSID(robot_model, solver, 0.001)
 
 ctrl = CartesianPosPDController()
 
 setpoint = RigidBodyStateSE3()
 
 feedback = RigidBodyStateSE3()
 
 control_output = RigidBodyStateSE3()
 
 joint_state = Joints()
 
list init_pos
 
 js = JointState()
 
 speed
 
 acceleration
 
 microseconds
 
 qp = scene.update()
 
 solver_output = scene.solve(qp)
 
+

Variable Documentation

+ +

◆ a

+ +
+
+ + + + +
rh5_legs_floating_base.a = ActiveContact()
+
+ +
+
+ +

◆ acceleration

+ +
+
+ + + + +
rh5_legs_floating_base.acceleration
+
+ +
+
+ +

◆ activation

+ +
+
+ + + + +
rh5_legs_floating_base.activation
+
+ +
+
+ +

◆ active

+ +
+
+ + + + +
rh5_legs_floating_base.active
+
+ +
+
+ +

◆ angular

+ +
+
+ + + + +
rh5_legs_floating_base.angular
+
+ +
+
+ +

◆ cfg

+ +
+
+ + + + +
rh5_legs_floating_base.cfg = TaskConfig()
+
+ +
+
+ +

◆ contact_points

+ +
+
+ + + + +
rh5_legs_floating_base.contact_points
+
+ +
+
+ +

◆ contacts

+ +
+
+ + + + +
rh5_legs_floating_base.contacts = ActiveContacts()
+
+ +
+
+ +

◆ control_output

+ +
+
+ + + + +
rh5_legs_floating_base.control_output = RigidBodyStateSE3()
+
+ +
+
+ +

◆ ctrl

+ +
+
+ + + + +
rh5_legs_floating_base.ctrl = CartesianPosPDController()
+
+ +
+
+ +

◆ elements

+ +
+
+ + + + +
list rh5_legs_floating_base.elements = []
+
+ +
+
+ +

◆ feedback

+ +
+
+ + + + +
rh5_legs_floating_base.feedback = RigidBodyStateSE3()
+
+ +
+
+ +

◆ file_or_string

+ +
+
+ + + + +
rh5_legs_floating_base.file_or_string
+
+ +
+
+ +

◆ floating_base

+ +
+
+ + + + +
rh5_legs_floating_base.floating_base
+
+ +
+
+ +

◆ floating_base_state

+ +
+
+ + + + +
rh5_legs_floating_base.floating_base_state = RigidBodyStateSE3()
+
+ +
+
+ +

◆ init_pos

+ +
+
+ + + + +
list rh5_legs_floating_base.init_pos
+
+Initial value:
1= [0,0,-0.2,0.4,0,-0.2,
+
2 0,0,-0.2,0.4,0,-0.2]
+
+
+
+ +

◆ joint_state

+ +
+
+ + + + +
rh5_legs_floating_base.joint_state = Joints()
+
+ +
+
+ +

◆ js

+ +
+
+ + + + +
rh5_legs_floating_base.js = JointState()
+
+ +
+
+ +

◆ linear

+ +
+
+ + + + +
rh5_legs_floating_base.linear
+
+ +
+
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◆ microseconds

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rh5_legs_floating_base.microseconds
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◆ mu

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rh5_legs_floating_base.mu
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◆ name

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rh5_legs_floating_base.name
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◆ names

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rh5_legs_floating_base.names
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◆ orientation

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rh5_legs_floating_base.orientation
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◆ position

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rh5_legs_floating_base.position
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◆ priority

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rh5_legs_floating_base.priority
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◆ qp

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rh5_legs_floating_base.qp = scene.update()
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◆ r

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rh5_legs_floating_base.r = RobotModelConfig()
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◆ ref_frame

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rh5_legs_floating_base.ref_frame
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◆ robot_model

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rh5_legs_floating_base.robot_model = RobotModelRBDL()
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◆ root

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rh5_legs_floating_base.root
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◆ scene

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rh5_legs_floating_base.scene = AccelerationSceneTSID(robot_model, solver, 0.001)
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◆ setpoint

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rh5_legs_floating_base.setpoint = RigidBodyStateSE3()
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◆ solver

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rh5_legs_floating_base.solver = QPOASESSolver()
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◆ solver_output

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rh5_legs_floating_base.solver_output = scene.solve(qp)
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◆ speed

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rh5_legs_floating_base.speed
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◆ tip

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rh5_legs_floating_base.tip
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◆ type

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rh5_legs_floating_base.type
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◆ weights

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rh5_legs_floating_base.weights
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+Generated by doxygen 1.12.0 +
+
+ + diff --git a/namespaces.html b/namespaces.html index 9a1950b..c864c8f 100644 --- a/namespaces.html +++ b/namespaces.html @@ -65,12 +65,14 @@
Here is a list of all namespaces with brief descriptions:
[detail level 12]
- - - - - - + + + + + + + +
 Npygen
 ▼Nsrc
 Nrobot_models
 Nscenes
 Nsolvers
 Nwbc_py
 Ncart_pos_ctrl_hls_solver
 Npygen
 Nrh5_legs_floating_base
 ▼Nsrc
 Nrobot_models
 Nscenes
 Nsolvers
 Nwbc_py
diff --git a/rh5__legs__floating__base_8py.html b/rh5__legs__floating__base_8py.html new file mode 100644 index 0000000..418a3f5 --- /dev/null +++ b/rh5__legs__floating__base_8py.html @@ -0,0 +1,167 @@ + + + + + + + +wbc: examples/rh5/rh5_legs_floating_base.py File Reference + + + + + + + + + + + +
+
+ + + + + + +
+
wbc +
+
+
+ + + + + + + + + +
+
+
+
+Namespaces | +Variables
+
rh5_legs_floating_base.py File Reference
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+
+ + + + +

+Namespaces

namespace  rh5_legs_floating_base
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Variables

 rh5_legs_floating_base.floating_base_state = RigidBodyStateSE3()
 
 rh5_legs_floating_base.position
 
 rh5_legs_floating_base.orientation
 
 rh5_legs_floating_base.linear
 
 rh5_legs_floating_base.angular
 
 rh5_legs_floating_base.robot_model = RobotModelRBDL()
 
 rh5_legs_floating_base.r = RobotModelConfig()
 
 rh5_legs_floating_base.file_or_string
 
 rh5_legs_floating_base.floating_base
 
 rh5_legs_floating_base.contacts = ActiveContacts()
 
 rh5_legs_floating_base.names
 
 rh5_legs_floating_base.a = ActiveContact()
 
 rh5_legs_floating_base.mu
 
 rh5_legs_floating_base.active
 
 rh5_legs_floating_base.elements = []
 
 rh5_legs_floating_base.contact_points
 
 rh5_legs_floating_base.solver = QPOASESSolver()
 
 rh5_legs_floating_base.cfg = TaskConfig()
 
 rh5_legs_floating_base.name
 
 rh5_legs_floating_base.root
 
 rh5_legs_floating_base.tip
 
 rh5_legs_floating_base.ref_frame
 
 rh5_legs_floating_base.priority
 
 rh5_legs_floating_base.activation
 
 rh5_legs_floating_base.type
 
 rh5_legs_floating_base.weights
 
 rh5_legs_floating_base.scene = AccelerationSceneTSID(robot_model, solver, 0.001)
 
 rh5_legs_floating_base.ctrl = CartesianPosPDController()
 
 rh5_legs_floating_base.setpoint = RigidBodyStateSE3()
 
 rh5_legs_floating_base.feedback = RigidBodyStateSE3()
 
 rh5_legs_floating_base.control_output = RigidBodyStateSE3()
 
 rh5_legs_floating_base.joint_state = Joints()
 
list rh5_legs_floating_base.init_pos
 
 rh5_legs_floating_base.js = JointState()
 
 rh5_legs_floating_base.speed
 
 rh5_legs_floating_base.acceleration
 
 rh5_legs_floating_base.microseconds
 
 rh5_legs_floating_base.qp = scene.update()
 
 rh5_legs_floating_base.solver_output = scene.solve(qp)
 
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+ +
+Generated by doxygen 1.12.0 +
+
+ +