Class Stabilizer

Defined in File dynup_stabilizer.hpp

Inheritance Relationships

Base Type

public bitbots_splines::AbstractStabilizer< DynupResponse >

Class Documentation

class bitbots_dynup::Stabilizer : public bitbots_splines::AbstractStabilizer<DynupResponse>

Public Functions

explicit Stabilizer(std::string ns)

DynupResponse stabilize(const DynupResponse &response, const rclcpp::Duration &dt) override

void setRSoleToTrunk(geometry_msgs::msg::TransformStamped r_sole_to_trunk)

void setParams(std::map<std::string, rclcpp::Parameter> params)

void reset() override

void setImu(sensor_msgs::msg::Imu::SharedPtr imu)

bool isStable()

Private Members

sensor_msgs::msg::Imu::SharedPtr imu_

std::shared_ptr<control_toolbox::PidROS> pid_trunk_pitch_

std::shared_ptr<control_toolbox::PidROS> pid_trunk_roll_

std::shared_ptr<rclcpp::Node> pitch_node_

std::shared_ptr<rclcpp::Node> roll_node_

geometry_msgs::msg::TransformStamped r_sole_to_trunk_

bool stabilize_now_

bool is_stable_

double stable_threshold_

bool use_stabilizing_