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 | ||||
) |