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