QPControllerParams Struct Reference

#include <drake/systems/controllers/QPCommon.h>

Collaboration diagram for QPControllerParams:

Public Member Functions
	QPControllerParams (const RigidBodyTree &robot)

Public Attributes
WholeBodyParams	whole_body
std::vector< BodyMotionParams >	body_motion
VRefIntegratorParams	vref_integrator
JointSoftLimitParams	joint_soft_limits
HardwareParams	hardware
Eigen::Matrix3d	W_kdot
double	Kp_ang
double	w_slack
double	slack_limit
double	w_grf
double	Kp_accel
double	contact_threshold
double	min_knee_angle
bool	use_center_of_mass_observer
Eigen::Matrix4d	center_of_mass_observer_gain

Friends
bool	operator== (const QPControllerParams &lhs, const QPControllerParams &rhs)

Constructor & Destructor Documentation

QPControllerParams ( const RigidBodyTree &  robot )

inlineexplicit

Friends And Related Function Documentation

bool operator== ( const QPControllerParams &  lhs, const QPControllerParams &  rhs  )

friend

Member Data Documentation

std::vector<BodyMotionParams> body_motion

Eigen::Matrix4d center_of_mass_observer_gain

double contact_threshold

HardwareParams hardware

JointSoftLimitParams joint_soft_limits

double Kp_accel

double Kp_ang

double min_knee_angle

double slack_limit

bool use_center_of_mass_observer

VRefIntegratorParams vref_integrator

double w_grf

Eigen::Matrix3d W_kdot

double w_slack

WholeBodyParams whole_body

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

• drake/systems/controllers/QPCommon.h