8 #include <ParamHandler.hpp> 17 float period, std::string name):
29 printf(
"[RobotRunner] initialize\n");
76 static int count_ini(0);
80 }
else if (20 < count_ini && count_ini < 30) {
82 }
else if (40 < count_ini && count_ini < 50) {
91 kpMat << 5, 0, 0, 0, 5, 0, 0, 0, 5;
92 kdMat << 0.1, 0, 0, 0, 0.1, 0, 0, 0, 0.1;
94 for (
int leg = 0; leg < 4; leg++) {
110 for (
int leg = 0; leg < 4; leg++) {
111 for (
int joint = 0; joint < 3; joint++) {
141 printf(
"[RobotRunner] Transitioning to Cheater Mode...\n");
149 printf(
"[RobotRunner] Transitioning from Cheater Mode...\n");
178 contactDefault << 0.5, 0.5, 0.5, 0.5;
TiBoardData * tiBoardData
bool IsInitialized(LegController< T > *)
LegController< float > * _legController
leg_control_data_lcmt leg_control_data_lcm
VisualizationData * _visualizationData
LegController< float > * _legController
typename Eigen::Matrix< T, 3, 3 > Mat3
VectorNavData * vectorNavData
void setLcm(leg_control_data_lcmt *data, leg_control_command_lcmt *command)
Utility function to build a Cheetah 3 Quadruped object.
void initializeStateEstimator(bool cheaterMode=false)
Utility function to build a Mini Cheetah Quadruped object.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW RobotRunner(RobotController *, PeriodicTaskManager *, float, std::string)
void removeAllEstimators()
TiBoardCommand * tiBoardCommand
Common framework for running robot controllers. This code is a common interface between control code ...
LegControllerData< T > datas[4]
std::string getLcmUrl(s64 ttl)
void setMaxTorqueCheetah3(T tau)
virtual void runController()=0
GamepadCommand * driverCommand
void updateCommand(SpiCommand *spiCommand)
CheetahVisualization * cheetahMainVisualization
Timer for measuring how long things take.
StateEstimate< float > * _stateEstimate
RobotControlParameters * controlParameters
void setEnabled(bool enabled)
GamepadCommand * _driverCommand
RobotControlParameters * _controlParameters
void updateData(const SpiData *spiData)
JPosInitializer< float > * _jpos_initializer
virtual void updateVisualization()=0
void run(CheetahVisualization *visualization=nullptr)
CheaterState< double > * cheaterState
StateEstimatorContainer< float > * _stateEstimator
StateEstimate< float > _stateEstimate
FloatingBaseModel< float > * _model
typename Eigen::Matrix< T, 4, 1 > Vec4
Quadruped< float > _quadruped
All State Estimation Algorithms.
FloatingBaseModel< float > _model
leg_control_command_lcmt leg_control_command_lcm
void setLcm(state_estimator_lcmt &lcm_data)
virtual void initializeController()=0
void setContactPhase(Vec4< T > &phase)
StateEstimatorContainer< float > * _stateEstimator
VisualizationData * visualizationData
state_estimator_lcmt state_estimator_lcm
Quadruped< float > * _quadruped
FloatingBaseModel< T > buildModel()
RobotController * _robot_ctrl
All Orientation Estimation Algorithms.
LegControllerCommand< T > commands[4]