Class StandbyController

• Defined in File StandbyController.h

Inheritance Relationships

Base Type

• public legged::ControllerBase (Class ControllerBase)

Class Documentation

class StandbyController : public legged::ControllerBase

Public Functions

controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override

controller_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override

controller_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override

Protected Attributes

vector_t defaultPosition_

vector_t kp_

vector_t kd_

scalar_t totalTime_ = {2.}

scalar_t maxError_ = {0.34}

vector_t startPosition_

rclcpp::Time startTime_

bool firstUpdate_ = {true}