Class WalkStabilizer

• Defined in File walk_stabilizer.hpp

Inheritance Relationships

Base Type

• public bitbots_splines::AbstractStabilizer< WalkResponse >

Class Documentation

class bitbots_quintic_walk::WalkStabilizer : public bitbots_splines::AbstractStabilizer<WalkResponse>

Public Functions

explicit WalkStabilizer(std::string ns)

void reset() override

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

Private Members

std::shared_ptr<control_toolbox::PidROS> pid_trunk_fused_pitch_

std::shared_ptr<control_toolbox::PidROS> pid_trunk_fused_roll_

std::shared_ptr<rclcpp::Node> pitch_node_

std::shared_ptr<rclcpp::Node> roll_node_