Atlas Sim Interface  1.0
Classes | Defines
AtlasSimInterfaceTypes.h File Reference
#include "AtlasControlTypes.h"
#include "AtlasVectorTypes.h"

Go to the source code of this file.

Classes

struct  AtlasJointState
 Structure for holding robot joint state. More...
struct  AtlasRobotState
 Structure for current sim state to be streamed to robot sim control. More...
struct  AtlasJointDesired
 Structure for specifying joint setpoints. More...
struct  AtlasJointControlParams
 Structure for specifying controller parameters. More...
struct  AtlasControlInput
 Structure for current sim state to be streamed to robot sim control. More...
struct  AtlasControlOutput
 Structure for control data to be streamed to robot sim. More...

Defines

#define ATLAS_SIM_SOFTWARE_VERSION_STRING   "1.1.1"
#define ATLAS_SIM_SOFTWARE_VERSION_MAJOR   1
#define ATLAS_SIM_SOFTWARE_VERSION_MINOR   1
#define ATLAS_SIM_SOFTWARE_VERSION_POINT   1

Enumerations

Control output types and enumerations.
enum  AtlasErrorCode {
  NO_ERRORS = 0,
  ERROR_UNSPECIFIED = -1,
  ERROR_VALUE_OUT_OF_RANGE = -2,
  ERROR_INVALID_INDEX = -3,
  ERROR_FAILED_TO_START_BEHAVIOR = -4,
  ERROR_NO_ACTIVE_BEHAVIOR = -5,
  ERROR_NO_SUCH_BEHAVIOR = -6,
  ERROR_BEHAVIOR_NOT_IMPLEMENTED = -7,
  ERROR_TIME_RAN_BACKWARD = -8,
  ERROR_INVALID_RESULTS = -9,
  NUM_ERROR_CODES
}
 Enumeration identifying error codes that can be returned from function calls. More...

Class Documentation

struct AtlasControlInput

Structure for current sim state to be streamed to robot sim control.

Class Members
AtlasJointDesired j Setpoints for joint joints.
AtlasJointControlParams jparams Gains for joint joints.
AtlasBehaviorStandParams stand_params Control parameters for Stand.
AtlasBehaviorStepParams step_params Control parameters for Step.
AtlasBehaviorWalkParams walk_params Control parameters for Walk.
AtlasBehaviorManipulateParams manipulate_params Control parameters for Manipulate.

Define Documentation

#define ATLAS_SIM_SOFTWARE_VERSION_STRING   "1.1.1"

Enumeration Type Documentation

Enumeration identifying error codes that can be returned from function calls.

AtlasErrorCode

Enumerator:
NO_ERRORS 

no error detected

ERROR_UNSPECIFIED 

unspecified error

ERROR_VALUE_OUT_OF_RANGE 

passed value is out of range

ERROR_INVALID_INDEX 

passed index is invalid (too low or too high)

ERROR_FAILED_TO_START_BEHAVIOR 

robot failed to start desired behavior

ERROR_NO_ACTIVE_BEHAVIOR 

robot has no active behavior

ERROR_NO_SUCH_BEHAVIOR 

behavior doesn't exist

ERROR_BEHAVIOR_NOT_IMPLEMENTED 

behavior exists but not implemented

ERROR_TIME_RAN_BACKWARD 

a time earlier than previous times was given

ERROR_INVALID_RESULTS 

returned results are invalid

NUM_ERROR_CODES