Class Stabilizer

• Defined in File stabilizer.hpp

Inheritance Relationships

Base Type

• public bitbots_splines::AbstractStabilizer< KickPositions >

Class Documentation

class bitbots_dynamic_kick::Stabilizer : public bitbots_splines::AbstractStabilizer<KickPositions>

Public Functions

explicit Stabilizer(std::string ns)

KickPositions stabilize(const KickPositions &positions, const rclcpp::Duration &dt) override

Calculate required IK goals to reach foot_goal with a foot while keeping the robot as stable as possible.

Parameters

positions – a description of the required positions

Returns

BioIK Options that can be used by an instance of AbstractIK

void reset() override

void useCop(bool use)

void setRobotModel(moveit::core::RobotModelPtr model)

Public Members

geometry_msgs::msg::Point cop_left

geometry_msgs::msg::Point cop_right

Private Members

moveit::core::RobotModelPtr kinematic_model_

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_

bool use_cop_