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(rclcpp::Node::SharedPtr node, bitbots_dynup::Params::Stabilizer params)

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

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

void setParams(bitbots_dynup::Params::Stabilizer params)

void reset() override

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

bool isStable()

Private Members

bitbots_dynup::Params::Stabilizer params_

control_toolbox::PidROS pid_trunk_pitch_

control_toolbox::PidROS pid_trunk_roll_

std::optional<geometry_msgs::msg::TransformStamped> r_sole_to_trunk_

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

bool is_stable_ = true