A class for hierarchical optimization control. More...

#include <hierarchical_optimization_controller.h>

Collaboration diagram for HierarchicalOptimizationControl:

Classes
struct	Task
	Task struct. More...

Public Types
enum	SolverType { OSQP = 1 , ECQP = 2 , CLP = 3 , SCS = 4 , SNOPT = 5 , UNSPECIFIED }
	Drake Solver type enumerator. More...

enum	LegType { frontLeft = 1 , frontRight = 2 , rearLeft = 3 , rearRight = 4 , NONE }
	Leg type enumerator. More...

enum	BodyType { base = 1 , hip = 2 , thigh = 3 , leg = 4 , foot = 5 }
	Body type enumerator. More...

Public Member Functions
	HierarchicalOptimizationControl ()
	Constructor. More...

virtual	~HierarchicalOptimizationControl ()
	Destructor. More...

void	StaticTorqueTest ()

void	HeightRollYawTest ()

Eigen::Matrix< double, 12, 1 >	HierarchicalOptimization (const Eigen::Matrix< double, 3, 1 > &_desired_base_pos, const Eigen::Matrix< double, 3, 1 > &_desired_base_vel, const Eigen::Matrix< double, 3, 1 > &_desired_base_acc, const Eigen::Matrix< double, 3, 1 > &_desired_base_ori, const Eigen::Matrix< Eigen::Vector3d, 4, 1 > &_desired_f_pos, const Eigen::Matrix< Eigen::Vector3d, 4, 1 > &_desired_f_vel, const Eigen::Matrix< Eigen::Vector3d, 4, 1 > &_desired_f_acc, const Eigen::Matrix< Eigen::Vector3d, 4, 1 > &_f_pos, const Eigen::Matrix< Eigen::Vector3d, 4, 1 > &_f_vel, const Eigen::Matrix< double, 18, 1 > &_q, const Eigen::Matrix< double, 18, 1 > &_u, const int &_v=0)
	The HierarchicalOptimization function finds the optimal joint torques for a desired motion plan. It finds joint torques by finding optimal joint accelerations and contact forces for a set of whole-body control QP tasks, and leveraging inverse dynamics. More...

Eigen::Matrix< double, Eigen::Dynamic, 1 >	HierarchicalQPOptimization (const int &_state_dim, const std::vector< Task > &_tasks, const SolverType &_solver=SolverType::OSQP, const int &_v=0)
	The HierarchicalQPOptimization function finds the optimal solution for a set of tasks in a strictly prioritized order. The method iterates through the set of tasks and searches for a new solution in the null-space of all higher priority equality constraints. At each iteration a QP problem is solved to find a vector lying in the row-space of the null-space of all equality constraints, which improve on the current solution. More...

Eigen::Matrix< double, Eigen::Dynamic, 1 >	HierarchicalLeastSquareOptimization (const Eigen::Matrix< Eigen::MatrixXd, Eigen::Dynamic, 1 > &_A, const Eigen::Matrix< Eigen::Matrix< double, Eigen::Dynamic, 1 >, Eigen::Dynamic, 1 > &_b, const int &_v=0)
	The HierarchicalLeastSquareOptimization function finds the optimal solution for a set of linear equality constraints in a strictly prioritized order. The method iterates through the set of equality constraints and searches for a new solution in the null-space of all higher priority equality constraints. At each iteration the Moore-Penrose pseudoinverse is utilized to find a vector lying in the row-space of the null-space of all equality constraints, which improve on the current solution. The usage of the Moore-Penrose pseudoinverse yield a least square solution of the problem at hand. More...

bool	SolveQP (const Eigen::MatrixXd &_Q, const Eigen::VectorXd &_c, const Eigen::MatrixXd &_E_ineq, const Eigen::VectorXd &_f_ineq, Eigen::VectorXd &_sol, const SolverType &_solver=SolverType::UNSPECIFIED, const int &_v=0)
	The SolveQP function solves a (convex) quadratic program (QP) on the form: More...

bool	SolveQP (const Eigen::MatrixXd &_Q, const Eigen::VectorXd &_c, const Eigen::MatrixXd &_A, const Eigen::VectorXd &_lb, const Eigen::VectorXd &_ub, Eigen::VectorXd &_sol, const SolverType &_solver=SolverType::UNSPECIFIED, const int &_v=0)
	The SolveQP function solves a (convex) quadratic program (QP) on the form: More...

bool	SolveQP (const Eigen::MatrixXd &_Q, const Eigen::VectorXd &_c, const Eigen::MatrixXd &_E_eq, const Eigen::VectorXd &_f_eq, const Eigen::MatrixXd &_E_ineq, const Eigen::VectorXd &_f_ineq, Eigen::VectorXd &_sol, const SolverType &_solver=SolverType::UNSPECIFIED, const int &_v=0)
	The SolveQP function solves a (convex) quadratic program (QP) on the form: More...

void	PublishTorqueMsg (const Eigen::Matrix< double, 12, 1 > &_desired_tau)
	The PublishTorqueMsg function publishes a desired torque message to the ROS topic set by the joint state publisher. More...

void	OnGenCoordMsg (const std_msgs::Float64MultiArrayConstPtr &_msg)
	The OnGenCoordMsg function handles an incoming generalized coordinates message from ROS. More...

void	OnGenVelMsg (const std_msgs::Float64MultiArrayConstPtr &_msg)
	The OnGenVelMsg function handles an incoming generalized velocities message from ROS. More...

void	OnContactStateMsg (const std_msgs::Int8MultiArrayConstPtr &_msg)
	The OnContactStateMsg function handles an incoming contact state message from ROS. More...

void	ProcessQueueThread ()
	The ProcessQueueThread function is a ROS helper function that processes messages. More...

void	PublishQueueThread ()
	The PublishQueueThread function is a ROS helper function that publish state messages. More...

Public Attributes
Kinematics	kinematics
	Kinematics. More...

Protected Member Functions
void	InitRos ()
	The InitRos function is called to initialize ROS. More...

void	InitRosQueueThreads ()
	The InitRosQueueThreads function is called to initialize the ROS Publish and Process Queue Threads. More...

Private Attributes
Eigen::Matrix< double, 18, 1 >	genCoord
	Generalized Coordinates. More...

Eigen::Matrix< double, 18, 1 >	genVel
	Generalized Velocities. More...

Eigen::Matrix< Eigen::Vector3d, 4, 1 >	fPos
	Foot-point positions. More...

Eigen::Matrix< Eigen::Vector3d, 4, 1 >	fVel
	Foot-point velocities. More...

int	contactState [4]
	Contact State. More...

std::unique_ptr< ros::NodeHandle >	rosNode
	Node used for ROS transport. More...

ros::Subscriber	genCoordSub
	ROS Generalized Coordinates Subscriber. More...

ros::Subscriber	genVelSub
	ROS Generalized Coordinates Subscriber. More...

ros::Subscriber	contactStateSub
	ROS Contact State Subscriber. More...

ros::Publisher	jointStatePub
	ROS Joint State Publisher. More...

ros::Publisher	basePoseCmdPub
	ROS Base Position Command Publisher. More...

ros::Publisher	baseTwistCmdPub
	ROS Base Position Command Publisher. More...

ros::CallbackQueue	rosProcessQueue
	ROS callbackque that helps process messages. More...

ros::CallbackQueue	rosPublishQueue
	ROS callbackque that helps publish messages. More...

std::thread	rosProcessQueueThread
	Thread running the rosProcessQueue. More...

std::thread	rosPublishQueueThread
	Thread running the rosPublishQueue. More...

Detailed Description

A class for hierarchical optimization control.

Definition at line 64 of file hierarchical_optimization_controller.h.

Member Enumeration Documentation

◆ SolverType

enum HierarchicalOptimizationControl::SolverType

Drake Solver type enumerator.

Enumerator
OSQP
ECQP
CLP
SCS
SNOPT
UNSPECIFIED

Definition at line 77 of file hierarchical_optimization_controller.h.

◆ LegType

enum HierarchicalOptimizationControl::LegType

Leg type enumerator.

Enumerator
frontLeft
frontRight
rearLeft
rearRight
NONE

Definition at line 80 of file hierarchical_optimization_controller.h.

◆ BodyType

enum HierarchicalOptimizationControl::BodyType

Body type enumerator.

Enumerator
base
hip
thigh
leg
foot

Definition at line 83 of file hierarchical_optimization_controller.h.

Constructor & Destructor Documentation

◆ HierarchicalOptimizationControl()

HierarchicalOptimizationControl::HierarchicalOptimizationControl ( )

Constructor.

Definition at line 30 of file hierarchical_optimization_controller.cpp.

◆ ~HierarchicalOptimizationControl()

HierarchicalOptimizationControl::~HierarchicalOptimizationControl ( )

virtual

Destructor.

Definition at line 46 of file hierarchical_optimization_controller.cpp.

Member Function Documentation

◆ StaticTorqueTest()

void HierarchicalOptimizationControl::StaticTorqueTest ( )

Definition at line 60 of file hierarchical_optimization_controller.cpp.

◆ HeightRollYawTest()

void HierarchicalOptimizationControl::HeightRollYawTest ( )

Definition at line 154 of file hierarchical_optimization_controller.cpp.

◆ HierarchicalOptimization()

Eigen::Matrix< double, 12, 1 > HierarchicalOptimizationControl::HierarchicalOptimization	(	const Eigen::Matrix< double, 3, 1 > &	_desired_base_pos,
		const Eigen::Matrix< double, 3, 1 > &	_desired_base_vel,
		const Eigen::Matrix< double, 3, 1 > &	_desired_base_acc,
		const Eigen::Matrix< double, 3, 1 > &	_desired_base_ori,
		const Eigen::Matrix< Eigen::Vector3d, 4, 1 > &	_desired_f_pos,
		const Eigen::Matrix< Eigen::Vector3d, 4, 1 > &	_desired_f_vel,
		const Eigen::Matrix< Eigen::Vector3d, 4, 1 > &	_desired_f_acc,
		const Eigen::Matrix< Eigen::Vector3d, 4, 1 > &	_f_pos,
		const Eigen::Matrix< Eigen::Vector3d, 4, 1 > &	_f_vel,
		const Eigen::Matrix< double, 18, 1 > &	_q,
		const Eigen::Matrix< double, 18, 1 > &	_u,
		const int &	_v = `0`
	)

The HierarchicalOptimization function finds the optimal joint torques for a desired motion plan. It finds joint torques by finding optimal joint accelerations and contact forces for a set of whole-body control QP tasks, and leveraging inverse dynamics.

Parameters

[in]	_desired_base_pos	Desired base position.
[in]	_desired_base_vel	Desired base velocity.
[in]	_desired_base_acc	Desired base acceleration.
[in]	_desired_base_ori	Desired base orientation.
[in]	_desired_f_pos	Desired foot-point positions.
[in]	_desired_f_vel	Desired foot-point velocities.
[in]	_desired_f_acc	Desired foot-point accelerations.
[in]	_f_pos	Foot-point positions.
[in]	_f_vel	Foot-point velocities.
[in]	_v	Verbosity level [0,1,2,3].

Returns: Returns the optimal set of joint torques for the whole-body control problem leveraging hierarchical optimization.

Definition at line 266 of file hierarchical_optimization_controller.cpp.

◆ HierarchicalQPOptimization()

Eigen::Matrix< double, Eigen::Dynamic, 1 > HierarchicalOptimizationControl::HierarchicalQPOptimization	(	const int &	_state_dim,
		const std::vector< Task > &	_tasks,
		const SolverType &	_solver = `SolverType::OSQP`,
		const int &	_v = `0`
	)

The HierarchicalQPOptimization function finds the optimal solution for a set of tasks in a strictly prioritized order. The method iterates through the set of tasks and searches for a new solution in the null-space of all higher priority equality constraints. At each iteration a QP problem is solved to find a vector lying in the row-space of the null-space of all equality constraints, which improve on the current solution.

Parameters

[in]	_state_dim	State dimension for the solution vector.
[in]	_tasks	A set of tasks to be solved.
[in]	_solver	Solver type.
[in]	_v	Verbosity level [0,1,2,3].

Returns: Returns the optimal solution in a strict prioritized manner given a set of tasks.

Definition at line 679 of file hierarchical_optimization_controller.cpp.

◆ HierarchicalLeastSquareOptimization()

Eigen::Matrix< double, Eigen::Dynamic, 1 > HierarchicalOptimizationControl::HierarchicalLeastSquareOptimization	(	const Eigen::Matrix< Eigen::MatrixXd, Eigen::Dynamic, 1 > &	_A,
		const Eigen::Matrix< Eigen::Matrix< double, Eigen::Dynamic, 1 >, Eigen::Dynamic, 1 > &	_b,
		const int &	_v = `0`
	)

The HierarchicalLeastSquareOptimization function finds the optimal solution for a set of linear equality constraints in a strictly prioritized order. The method iterates through the set of equality constraints and searches for a new solution in the null-space of all higher priority equality constraints. At each iteration the Moore-Penrose pseudoinverse is utilized to find a vector lying in the row-space of the null-space of all equality constraints, which improve on the current solution. The usage of the Moore-Penrose pseudoinverse yield a least square solution of the problem at hand.

Parameters

[in]	_A	A set of equality constraint matrices A.
[in]	_b	A set of equality constraint vectors b.
[in]	_v	Verbosity level [0,1].

Returns: Returns the optimal solution in a strict prioritized manner given a set of equality constraints.

Definition at line 880 of file hierarchical_optimization_controller.cpp.

◆ SolveQP() [1/3]

bool HierarchicalOptimizationControl::SolveQP	(	const Eigen::MatrixXd &	_Q,
		const Eigen::VectorXd &	_c,
		const Eigen::MatrixXd &	_E_ineq,
		const Eigen::VectorXd &	_f_ineq,
		Eigen::VectorXd &	_sol,
		const SolverType &	_solver = `SolverType::UNSPECIFIED`,
		const int &	_v = `0`
	)

The SolveQP function solves a (convex) quadratic program (QP) on the form:

min_x        0.5 x^T Q x + c^T x
 s.t.        E_ineq x <= f_ineq

The toolbox uses the Drake toolbox for solving the problem. Currently Drake identifies the problem and chooses an appropriate commercial solver, but the solver can be specified (among the supported) by the user if one desires.

Parameters

[in]	_Q	Cost matrix Q (must be positive semidefinite).
[in]	_c	Cost vector c.
[in]	_E_ineq	Linear inequality constraint matrix E_ineq;
[in]	_f_ineq	Linear inequality constraint vector f_ineq;
[out]	_sol	Solution of the QP (if it exists).
[in]	_solver	Solver type, default is unspecified (Drake will choose accordingly).
[in]	_v	Verbosity level. // TODO Update after verbosity is set

Returns: Returns true if a solution is found, false if not.

Definition at line 958 of file hierarchical_optimization_controller.cpp.

◆ SolveQP() [2/3]

bool HierarchicalOptimizationControl::SolveQP	(	const Eigen::MatrixXd &	_Q,
		const Eigen::VectorXd &	_c,
		const Eigen::MatrixXd &	_A,
		const Eigen::VectorXd &	_lb,
		const Eigen::VectorXd &	_ub,
		Eigen::VectorXd &	_sol,
		const SolverType &	_solver = `SolverType::UNSPECIFIED`,
		const int &	_v = `0`
	)

The SolveQP function solves a (convex) quadratic program (QP) on the form:

min_x        0.5 x^T Q x + c^T x
 s.t.        lb <= A x <= ub

The toolbox uses the Drake toolbox for solving the problem. Currently Drake identifies the problem and chooses an appropriate commercial solver, but the solver can be specified (among the supported) by the user if one desires.

Parameters

[in]	_Q	Cost matrix Q (must be positive semidefinite).
[in]	_c	Cost vector c.
[in]	_A	Linear inequality constraint matrix A;
[in]	_lb	Linear inequality constraint lower bound vector;
[in]	_ub	Linear inequality constraint upper bound vector;
[out]	_sol	Solution of the QP (if it exists).
[in]	_solver	Solver type, default is unspecified (Drake will choose accordingly).
[in]	_v	Verbosity level. // TODO Update after verbosity is set

Returns: Returns true if a solution is found, false if not.

Definition at line 985 of file hierarchical_optimization_controller.cpp.

◆ SolveQP() [3/3]

bool HierarchicalOptimizationControl::SolveQP	(	const Eigen::MatrixXd &	_Q,
		const Eigen::VectorXd &	_c,
		const Eigen::MatrixXd &	_E_eq,
		const Eigen::VectorXd &	_f_eq,
		const Eigen::MatrixXd &	_E_ineq,
		const Eigen::VectorXd &	_f_ineq,
		Eigen::VectorXd &	_sol,
		const SolverType &	_solver = `SolverType::UNSPECIFIED`,
		const int &	_v = `0`
	)

The SolveQP function solves a (convex) quadratic program (QP) on the form:

min_x        0.5 x^T Q x + c^T x
 s.t.          E_eq x  = f_eq
             E_ineq x <= f_ineq

The toolbox uses the Drake toolbox for solving the problem. Currently Drake identifies the problem and chooses an appropriate commercial solver, but the solver can be specified (among the supported) by the user if one desires.

Parameters

[in]	_Q	Cost matrix Q (must be positive semidefinite).
[in]	_c	Cost vector c.
[in]	_E_eq	Linear equality constraint matrix E_eq;
[in]	_f_eq	Linear equality constraint vector f_eq;
[in]	_E_ineq	Linear inequality constraint matrix E_ineq;
[in]	_f_ineq	Linear inequality constraint vector f_ineq;
[out]	_sol	Solution of the QP (if it exists).
[in]	_solver	Solver type, default is unspecified (Drake will choose accordingly).
[in]	_v	Verbosity level. // TODO Update after verbosity is set

Returns: Returns true if a solution is found, false if not.

Definition at line 1120 of file hierarchical_optimization_controller.cpp.

◆ PublishTorqueMsg()

void HierarchicalOptimizationControl::PublishTorqueMsg ( const Eigen::Matrix< double, 12, 1 > & _desired_tau )

The PublishTorqueMsg function publishes a desired torque message to the ROS topic set by the joint state publisher.

Parameters

[in] _desired_tau Desired torque to be published.

Definition at line 1220 of file hierarchical_optimization_controller.cpp.

◆ OnGenCoordMsg()

void HierarchicalOptimizationControl::OnGenCoordMsg ( const std_msgs::Float64MultiArrayConstPtr & _msg )

The OnGenCoordMsg function handles an incoming generalized coordinates message from ROS.

Parameters

[in] _msg A float array containing the generalized coordinates.

Definition at line 1256 of file hierarchical_optimization_controller.cpp.

◆ OnGenVelMsg()

void HierarchicalOptimizationControl::OnGenVelMsg ( const std_msgs::Float64MultiArrayConstPtr & _msg )

The OnGenVelMsg function handles an incoming generalized velocities message from ROS.

Parameters

[in] _msg A float array containing the generalized velocities.

Definition at line 1273 of file hierarchical_optimization_controller.cpp.

◆ OnContactStateMsg()

void HierarchicalOptimizationControl::OnContactStateMsg ( const std_msgs::Int8MultiArrayConstPtr & _msg )

The OnContactStateMsg function handles an incoming contact state message from ROS.

Parameters

[in] _msg A float array containing the contact state.

Definition at line 1288 of file hierarchical_optimization_controller.cpp.

◆ ProcessQueueThread()

void HierarchicalOptimizationControl::ProcessQueueThread ( )

The ProcessQueueThread function is a ROS helper function that processes messages.

Definition at line 1305 of file hierarchical_optimization_controller.cpp.

◆ PublishQueueThread()

void HierarchicalOptimizationControl::PublishQueueThread ( )

The PublishQueueThread function is a ROS helper function that publish state messages.

Definition at line 1315 of file hierarchical_optimization_controller.cpp.

◆ InitRos()

void HierarchicalOptimizationControl::InitRos ( )

protected

The InitRos function is called to initialize ROS.

Definition at line 1325 of file hierarchical_optimization_controller.cpp.

◆ InitRosQueueThreads()

void HierarchicalOptimizationControl::InitRosQueueThreads ( )

protected

The InitRosQueueThreads function is called to initialize the ROS Publish and Process Queue Threads.

Definition at line 1412 of file hierarchical_optimization_controller.cpp.

Member Data Documentation

◆ kinematics

Kinematics HierarchicalOptimizationControl::kinematics

Kinematics.

Definition at line 299 of file hierarchical_optimization_controller.h.

◆ genCoord

Eigen::Matrix<double, 18, 1> HierarchicalOptimizationControl::genCoord

private

Generalized Coordinates.

Definition at line 302 of file hierarchical_optimization_controller.h.

◆ genVel

Eigen::Matrix<double, 18, 1> HierarchicalOptimizationControl::genVel

private

Generalized Velocities.

Definition at line 305 of file hierarchical_optimization_controller.h.

◆ fPos

Eigen::Matrix<Eigen::Vector3d, 4, 1> HierarchicalOptimizationControl::fPos

private

Foot-point positions.

Definition at line 308 of file hierarchical_optimization_controller.h.

◆ fVel

Eigen::Matrix<Eigen::Vector3d, 4, 1> HierarchicalOptimizationControl::fVel

private

Foot-point velocities.

Definition at line 311 of file hierarchical_optimization_controller.h.

◆ contactState

int HierarchicalOptimizationControl::contactState[4]

private

Contact State.

Definition at line 314 of file hierarchical_optimization_controller.h.

◆ rosNode

std::unique_ptr<ros::NodeHandle> HierarchicalOptimizationControl::rosNode

private

Node used for ROS transport.

Definition at line 317 of file hierarchical_optimization_controller.h.

◆ genCoordSub

ros::Subscriber HierarchicalOptimizationControl::genCoordSub

private

ROS Generalized Coordinates Subscriber.

Definition at line 320 of file hierarchical_optimization_controller.h.

◆ genVelSub

ros::Subscriber HierarchicalOptimizationControl::genVelSub

private

ROS Generalized Coordinates Subscriber.

Definition at line 323 of file hierarchical_optimization_controller.h.

◆ contactStateSub

ros::Subscriber HierarchicalOptimizationControl::contactStateSub

private

ROS Contact State Subscriber.

Definition at line 326 of file hierarchical_optimization_controller.h.

◆ jointStatePub

ros::Publisher HierarchicalOptimizationControl::jointStatePub

private

ROS Joint State Publisher.

Definition at line 329 of file hierarchical_optimization_controller.h.

◆ basePoseCmdPub

ros::Publisher HierarchicalOptimizationControl::basePoseCmdPub

private

ROS Base Position Command Publisher.

Definition at line 333 of file hierarchical_optimization_controller.h.

◆ baseTwistCmdPub

ros::Publisher HierarchicalOptimizationControl::baseTwistCmdPub

private

ROS Base Position Command Publisher.

Definition at line 337 of file hierarchical_optimization_controller.h.

◆ rosProcessQueue

ros::CallbackQueue HierarchicalOptimizationControl::rosProcessQueue

private

ROS callbackque that helps process messages.

Definition at line 340 of file hierarchical_optimization_controller.h.

◆ rosPublishQueue

ros::CallbackQueue HierarchicalOptimizationControl::rosPublishQueue

private

ROS callbackque that helps publish messages.

Definition at line 343 of file hierarchical_optimization_controller.h.

◆ rosProcessQueueThread

std::thread HierarchicalOptimizationControl::rosProcessQueueThread

private

Thread running the rosProcessQueue.

Definition at line 346 of file hierarchical_optimization_controller.h.

◆ rosPublishQueueThread

std::thread HierarchicalOptimizationControl::rosPublishQueueThread

private

Thread running the rosPublishQueue.

Definition at line 349 of file hierarchical_optimization_controller.h.

The documentation for this class was generated from the following files:

catkin_ws/src/control/hierarchical_optimization_controller/include/hierarchical_optimization_controller/hierarchical_optimization_controller.h
catkin_ws/src/control/hierarchical_optimization_controller/src/hierarchical_optimization_controller.cpp

Classes

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ SolverType

◆ LegType

◆ BodyType

Constructor & Destructor Documentation

◆ HierarchicalOptimizationControl()

◆ ~HierarchicalOptimizationControl()

Member Function Documentation

◆ StaticTorqueTest()

◆ HeightRollYawTest()

◆ HierarchicalOptimization()

◆ HierarchicalQPOptimization()

◆ HierarchicalLeastSquareOptimization()

◆ SolveQP() [1/3]

◆ SolveQP() [2/3]

◆ SolveQP() [3/3]

◆ PublishTorqueMsg()

◆ OnGenCoordMsg()

◆ OnGenVelMsg()

◆ OnContactStateMsg()

◆ ProcessQueueThread()

◆ PublishQueueThread()

◆ InitRos()

◆ InitRosQueueThreads()

Member Data Documentation

◆ kinematics

◆ genCoord

◆ genVel

◆ fPos

◆ fVel

◆ contactState

◆ rosNode

◆ genCoordSub

◆ genVelSub

◆ contactStateSub

◆ jointStatePub

◆ basePoseCmdPub

◆ baseTwistCmdPub

◆ rosProcessQueue

◆ rosPublishQueue

◆ rosProcessQueueThread

◆ rosPublishQueueThread