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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

#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


Function Documentation

GZ_REGISTER_STATIC ( "SegwayRMP"  ,
SegwayRMP   
)


Last updated 12 September 2005 21:38:45