initial commit

state_machine/parameters/fire_ant_control_parameters.cpp

@@ -0,0 +1,21 @@
+#include "control_parameters.h"
+
+void ControlParameters::GenerateFireAntParameters(){
+    body_len_x_ = 0.60f;
+    body_len_y_ = 0.32f;
+    hip_len_ = 0.0f;
+    thigh_len_ = 0.0f;
+    shank_len_ = 0.21f;
+    pre_height_ = 0.306f;
+    stand_height_ = 0.306f;
+    swing_leg_kp_ << 80.0f, 80.0f, 80.0f;
+    swing_leg_kd_ << 2.0f, 2.0f, 2.0f;
+    fl_joint_lower_ << -2.792f, -2.792f, -2.809f;
+    fl_joint_upper_ << 2.809f, 2.809f, 2.792f;
+    joint_vel_limit_ << 17.8024f, 17.8024f, 17.8024f;
+    torque_limit_ << 75.0f, 75.0f, 75.0f;
+    wheel_vel_limit_ = 109.956f;
+    wheel_link_len_ = 0.21f;
+    stand_duration_ = 1.5f;
+    liedown_duration_ = 2.0f;
+}