SegwayRMP.cc File Reference
#include <assert.h>#include "gazebo.h"#include "World.hh"#include "WorldFile.hh"#include "ModelFactory.hh"#include "Body.hh"#include "BoxGeom.hh"#include "SphereGeom.hh"#include "WheelGeom.hh"#include "SliderJoint.hh"#include "HingeJoint.hh"#include "SegwayRMP.hh"Defines | |
| #define | RMP_CTRL_LQR_K1 7.0 |
| #define | RMP_CTRL_LQR_K2 4.0 |
| #define | RMP_CTRL_LQR_K3 41.0 |
| #define | RMP_CTRL_LQR_K4 15.0 |
| #define | RMP_CTRL_LIN_KP -11.0 |
| #define | RMP_CTRL_LIN_KI 0.0 |
| #define | RMP_CTRL_LIN_KD 3.5 |
| #define | RMP_CTRL_ANG_KP 2.0 |
| #define | RMP_CTRL_ANG_KI 0.02 |
| #define | RMP_CTRL_ANG_KD 0.1 |
Functions | |
| GZ_REGISTER_STATIC ("SegwayRMP", SegwayRMP) | |
Define Documentation
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Function Documentation
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