18 lines
501 B
C++
18 lines
501 B
C++
#include "control_parameters.h"
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void ControlParameters::GenerateM20Parameters(){
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body_len_x_ = 0.3095*2;
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body_len_y_ = 0.065*2;
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hip_len_ = 0.104;
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thigh_len_ = 0.25;
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shank_len_ = 0.25;
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pre_height_ = 0.12;
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stand_height_ = 0.38;
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swing_leg_kp_ << 200., 200., 200.;
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swing_leg_kd_ << 4., 4., 4.;
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fl_joint_lower_ << -0.4363, -2.443, -2.758;
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fl_joint_upper_ << 0.6109, 2.443, 2.758;
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joint_vel_limit_ << 45, 22.4, 22.4;
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torque_limit_ << 32.4, 76.4, 76.4;
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} |