(doc/CMakeLists, AutoBalancer, Stabilizer, KalmanFilter, RemoveForceS…

…ensorLinkOffset, ImpedanceController) : Update documentation for unstable RTC

doc/CMakeLists.txt

@@ -24,6 +24,11 @@ set(input_files package.h utilities.h
  ../rtc/VirtualCamera/VirtualCamera.txt
  ../rtc/VirtualForceSensor/VirtualForceSensor.txt
  ../rtc/WavPlayer/WavPlayer.txt
+ ../rtc/Stabilizer/Stabilizer.txt
+ ../rtc/AutoBalancer/AutoBalancer.txt
+ ../rtc/KalmanFilter/KalmanFilter.txt
+ ../rtc/ImpedanceController/ImpedanceController.txt
+ ../rtc/RemoveForceSensorLinkOffset/RemoveForceSensorLinkOffset.txt
  ../lib/io/iob.h
  ../idl/CollisionDetectorService.idl
  ../idl/DataLoggerService.idl
@@ -37,6 +42,10 @@ set(input_files package.h utilities.h
  ../idl/StateHolderService.idl
  ../idl/TimeKeeperService.idl
  ../idl/WavPlayerService.idl
+ ../idl/AutoBalancerService.idl
+ ../idl/StabilizerService.idl
+ ../idl/KalmanFilterService.idl
+ ../idl/RemoveForceSensorLinkOffsetService.idl
  )
 configure_file(Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
 set(output_dir ${CMAKE_CURRENT_BINARY_DIR}/html)

idl/AutoBalancerService.idl

@@ -13,54 +13,100 @@ module OpenHRP
  typedef double DblArray3[3];
  typedef double DblArray4[4];
 
- // Foot Step
+ /**
+ * @struct Footstep
+ * @brief Foot step for one leg.
+ */
  struct Footstep
  {
- DblArray3 pos; // Foot position [m]
- DblArray4 rot; // Foot orientation by quaternion (w,x,y,z)
- string leg; // Leg name (rleg or lleg)
+ /// Foot position [m]
+ DblArray3 pos;
+ /// Foot orientation by quaternion (w,x,y,z)
+ DblArray4 rot;
+ /// Leg name (rleg or lleg)
+ string leg;
  };
+
+ /**
+ * @struct FootstepSequence
+ * @brief Sequence of foot step.
+ */
  typedef sequence<Footstep> FootstepSequence;
 
+ /**
+ * @enum SupportLegState
+ * @brief State of support leg.
+ */
  enum SupportLegState {
  RLEG,
  LLEG,
  BOTH
  };
 
+ /**
+ * @enum OrbitType
+ * @brief Orbit type of swing foot.
+ */
  enum OrbitType {
  SHUFFLING,
  CYCLOID,
  RECTANGLE
  };
 
+ /**
+ * @struct FootstepParam
+ * @brief Foot step parameters.
+ */
  struct FootstepParam
  {
- Footstep rleg_coords; // Current right foot coords
- Footstep lleg_coords; // Current left foot coords
- Footstep support_leg_coords; // Support foot coords
- Footstep swing_leg_coords; // Swing foot coords, which is interpolation betwee swing_leg_src_coords and swing_leg_dst_coords
- Footstep swing_leg_src_coords; // Source coords for swing foot
- Footstep swing_leg_dst_coords; // Destination coords for swing foot
- Footstep dst_foot_midcoords; // Destination foot midcoords
- SupportLegState support_leg; // RLEG or LLEG
- SupportLegState support_leg_with_both; // RLEG, LLEG, or BOTH
+ /// Current right foot coords
+ Footstep rleg_coords;
+ /// Current left foot coords
+ Footstep lleg_coords;
+ /// Support foot coords
+ Footstep support_leg_coords;
+ /// Swing foot coords, which is interpolation betwee swing_leg_src_coords and swing_leg_dst_coords
+ Footstep swing_leg_coords;
+ /// Source coords for swing foot
+ Footstep swing_leg_src_coords;
+ /// Destination coords for swing foot
+ Footstep swing_leg_dst_coords;
+ /// Destination foot midcoords
+ Footstep dst_foot_midcoords;
+ /// RLEG or LLEG
+ SupportLegState support_leg;
+ /// RLEG, LLEG, or BOTH
+ SupportLegState support_leg_with_both;
  };
 
  typedef sequence<string> StrSequence;
 
- struct GaitGeneratorParam // Parameters for GaitGenerator
+ /**
+ * @struct GaitGeneratorParam
+ * @brief Parameters for GaitGenerator.
+ */
+ struct GaitGeneratorParam
  {
- double default_step_time; // Step time [s]
- double default_step_height; // Step height [m]
- double default_double_support_ratio; // Ratio of double support period. Ratio is included in (0, 1). Double support period time is default_double_support_ratio*default_step_time.
- sequence<double, 3> stride_parameter; // Stride limitation of x[m], y[m], and theta[deg] for goPos
- OrbitType default_orbit_type; // Default OrbitType
+ /// Step time [s]
+ double default_step_time;
+ /// Step height [m]
+ double default_step_height;
+ /// Ratio of double support period. Ratio is included in (0, 1). Double support period time is default_double_support_ratio*default_step_time.
+ double default_double_support_ratio;
+ /// Stride limitation of x[m], y[m], and theta[deg] for goPos
+ sequence<double, 3> stride_parameter;
+ /// Default OrbitType
+ OrbitType default_orbit_type;
  };
 
- struct AutoBalancerParam // Parameters for AutoBalancer
+ /**
+ * @struct AutoBalancerParam
+ * @brief Parameters for AutoBalancer
+ */
+ struct AutoBalancerParam
  {
- sequence<DblSequence3, 2> default_zmp_offsets; // ZMP offset vectors[m] for rleg and lleg (<-please set by this order)
+ /// ZMP offset vectors[m] for rleg and lleg (<-please set by this order)
+ sequence<DblSequence3, 2> default_zmp_offsets;
  double move_base_gain;
  };
 

idl/ImpedanceControllerService.idl

@@ -1,6 +1,6 @@
 /**
  * @file ImpedanceControllerService.idl
- * @brief Services for the impedance interface
+ * @brief Services for the impedance controller interface
  */
 module OpenHRP
 {
@@ -9,25 +9,45 @@ module OpenHRP
  {
  typedef sequence<double, 3> DblSequence3;
 
- // Impedance Controller Parameters
+ /**
+ * @struct impedanceParam
+ * @brief Impedance controller parameters for one end-effector.
+ */
  struct impedanceParam {
- string name; // Name of end effector.
- string base_name; // Name of inverse kinematics root link.
- string target_name; // Name of inverse kinematics end effector link.
- double M_p; // Position mass [N/(m/s^2)]
- double D_p; // Position damper [N/(m/s)]
- double K_p; // Position spring [N/m]
- double M_r; // Rotation mass [Nm/(rad/s^2)]
- double D_r; // Rotation damper [N/(rad/s)]
- double K_r; // Rotation spring [N/rad]
- DblSequence3 ref_force; // Reference Force [N] (x,y,z).
- DblSequence3 force_gain; // Force gain (x,y,z).
- DblSequence3 ref_moment; // Reference Moment [Nm] (x,y,z).
- DblSequence3 moment_gain; // Moment gain (x,y,z).
- double sr_gain; // SR-inverse gain for inverse kinematics.
- double avoid_gain; // Avoid joint limit gain for inverse kinematics.
- double reference_gain; // Reference joint angles tracking gain for inverse kinematics.
- double manipulability_limit; // Manipulability limit for inverse kinematics.
+ /// Name of end effector.
+ string name;
+ /// Name of inverse kinematics root link.
+ string base_name;
+ /// Name of inverse kinematics end effector link.
+ string target_name;
+ /// Position mass [N/(m/s^2)]
+ double M_p;
+ /// Position damper [N/(m/s)]
+ double D_p;
+ /// Position spring [N/m]
+ double K_p;
+ /// Rotation mass [Nm/(rad/s^2)]
+ double M_r;
+ /// Rotation damper [N/(rad/s)]
+ double D_r;
+ /// Rotation spring [N/rad]
+ double K_r;
+ /// Reference Force [N] (x,y,z).
+ DblSequence3 ref_force;
+ /// Force gain (x,y,z).
+ DblSequence3 force_gain;
+ /// Reference Moment [Nm] (x,y,z).
+ DblSequence3 ref_moment;
+ /// Moment gain (x,y,z).
+ DblSequence3 moment_gain;
+ /// SR-inverse gain for inverse kinematics.
+ double sr_gain;
+ /// Avoid joint limit gain for inverse kinematics.
+ double avoid_gain;
+ /// Reference joint angles tracking gain for inverse kinematics.
+ double reference_gain;
+ /// Manipulability limit for inverse kinematics.
+ double manipulability_limit;
  };
 
  /**

idl/KalmanFilterService.idl

@@ -1,11 +1,15 @@
 /**
  * @file KalmanFilterService.idl
- * @brief Services for the robot hardware interface
+ * @brief Services for the kalman filter interface
  */
 module OpenHRP
 {
  interface KalmanFilterService
  {
+ /**
+ * @struct KalmanFilterParam
+ * @brief KalmanFilter Parameters.
+ */
  struct KalmanFilterParam
  {
  double Q_angle;

idl/RemoveForceSensorLinkOffsetService.idl

@@ -6,11 +6,19 @@ module OpenHRP
 {
  interface RemoveForceSensorLinkOffsetService
  {
+ /**
+ * @struct forcemomentOffsetParam
+ * @brief Parameters for a link mass and center of mass. The link is assumed to be end-effector-side from force-moment sensor.
+ */
  typedef sequence<double, 3> DblSequence3;
  struct forcemomentOffsetParam {
+ /// Force offset [N].
  DblSequence3 force_offset;
+ /// Moment offset [Nm].
  DblSequence3 moment_offset;
+ /// Link center of mass in sensor frame [m].
  DblSequence3 link_offset_centroid;
+ /// Link msas [kg].
  double link_offset_mass;
  };
 

idl/StabilizerService.idl

@@ -1,20 +1,27 @@
 /**
  * @file StabilizerService.idl
- * @brief Services for the robot hardware interface
+ * @brief Services for the stabilizer interface
  */
 module OpenHRP
 {
  interface StabilizerService
  {
  typedef double DblArray2[2];
 
- // Stabilizer Parameters
+ /**
+ * @struct stParam
+ * @brief Stabilizer Parameters.
+ */
  struct stParam {
  // for TPCC
- DblArray2 k_tpcc_p; // Feedback gain for ZMP tracking error (x,y)
- DblArray2 k_tpcc_x; // Feedback gain for COG position tracking error (x,y)
- DblArray2 k_brot_p; // Body posture control gain [rad/s] (roll, pitch).
- DblArray2 k_brot_tc; // Time constant for body posture control [s] (roll, pitch).
+ /// Feedback gain for ZMP tracking error (x,y)
+ DblArray2 k_tpcc_p;
+ /// Feedback gain for COG position tracking error (x,y)
+ DblArray2 k_tpcc_x;
+ /// Body posture control gain [rad/s] (roll, pitch).
+ DblArray2 k_brot_p;
+ /// Time constant for body posture control [s] (roll, pitch).
+ DblArray2 k_brot_tc;
  // for RUNST
  DblArray2 k_run_b;
  DblArray2 d_run_b;
@@ -25,18 +32,30 @@ module OpenHRP
  double d_run_x;
  double d_run_y;
  // for EEFM ST
- DblArray2 eefm_k1; // Feedback gain for COG position tracking error (x,y)
- DblArray2 eefm_k2; // Feedback gain for COG velocity tracking error (x,y)
- DblArray2 eefm_k3; // Feedback gain for ZMP tracking error (x,y)
- DblArray2 eefm_zmp_delay_time_const; // Time constant for stabilizer ZMP delay [s] (x,y)
- DblArray2 eefm_ref_zmp_aux; // Auxiliary input for ZMP position [m] (x,y). This is used for delay model identification
- double eefm_rot_damping_gain; // Foot rotation damping gain [Nm/(rad/s)].
- double eefm_rot_time_const; // Foot rotation damping time constant [s].
- double eefm_pos_damping_gain; // Foot position damping gain [N/(m/s)].
- double eefm_pos_time_const_support; // Foot position damping time constant for double support phase [s].
- double eefm_pos_time_const_swing; // Foot position damping time constant for single support phase [s].
- double eefm_pos_transition_time; // Transition time for single=>double support phase gain interpolation [s].
- double eefm_leg_inside_margin; // Inside foot margine [m]. Distance between foot end effector position and foot inside edge.
+ /// Feedback gain for COG position tracking error (x,y)
+ DblArray2 eefm_k1;
+ /// Feedback gain for COG velocity tracking error (x,y)
+ DblArray2 eefm_k2;
+ /// Feedback gain for ZMP tracking error (x,y)
+ DblArray2 eefm_k3;
+ /// Time constant for stabilizer ZMP delay [s] (x,y)
+ DblArray2 eefm_zmp_delay_time_const;
+ /// Auxiliary input for ZMP position [m] (x,y). This is used for delay model identification
+ DblArray2 eefm_ref_zmp_aux;
+ /// Foot rotation damping gain [Nm/(rad/s)].
+ double eefm_rot_damping_gain;
+ /// Foot rotation damping time constant [s].
+ double eefm_rot_time_const;
+ /// Foot position damping gain [N/(m/s)].
+ double eefm_pos_damping_gain;
+ /// Foot position damping time constant for double support phase [s].
+ double eefm_pos_time_const_support;
+ /// Foot position damping time constant for single support phase [s].
+ double eefm_pos_time_const_swing;
+ /// Transition time for single=>double support phase gain interpolation [s].
+ double eefm_pos_transition_time;
+ /// Inside foot margine [m]. Distance between foot end effector position and foot inside edge.
+ double eefm_leg_inside_margin;
  };
 
  /**