__init__()

def __init__	(		self,
		float	fall_pitch = 1.0,
		float	leg_length = 0.58,
		float	max_ground_accel = 10.0,
		float	max_ground_velocity = 3.0,
		int	nb_timesteps = 50,
		float	sampling_period = 0.02,
		float	stage_input_cost_weight = 1e-3,
		float	stage_state_cost_weight = 1e-3,
		float	terminal_cost_weight = 1.0,
		bool	warm_start = True
	)

Initialize balancer.

Parameters

fall_pitch	Fall pitch threshold, in radians.
leg_length	Leg length in meters.
max_ground_accel	Maximum commanded ground acceleration no matter what, in m/s².
max_ground_velocity	Maximum commanded ground velocity no matter what, in m/s.
nb_timesteps	Number of MPC steps.
sampling_period	Duration of an MPC step in seconds.
stage_input_cost_weight	Weight for the stage input cost.
stage_state_cost_weight	Weight for the stage state cost.
terminal_cost_weight	Weight for the terminal cost.
warm_start	If set, use the warm-starting feature of ProxQP.