Atlas Sim Interface  1.0
Public Member Functions | Public Attributes
AtlasBehaviorStepData Struct Reference

Structure for desired foot step data. More...

#include <AtlasControlTypes.h>


Detailed Description

Structure for desired foot step data.

Public Member Functions

 AtlasBehaviorStepData ()
 Default constructor.
 AtlasBehaviorStepData (int32_t _step_index, int32_t _foot_index, float _duration, AtlasVec3f _position, float _yaw, AtlasVec3f _normal, float _swing_height)
 Alternate constructor, when all parameters are known.

Public Attributes

int32_t step_index
 Step index.
int32_t foot_index
 Foot index (Left/Right); see AtlasFootId enum.
float duration
 Step duration.
AtlasVec3f position
 Foot position, in Atlas world frame.
float yaw
 Foot orientation yaw component, in Atlas world frame.
AtlasVec3f normal
 (currently unused)
float swing_height
 (currently unused)

Constructor & Destructor Documentation

Default constructor.

AtlasBehaviorStepData::AtlasBehaviorStepData ( int32_t  _step_index,
int32_t  _foot_index,
float  _duration,
AtlasVec3f  _position,
float  _yaw,
AtlasVec3f  _normal,
float  _swing_height 
) [inline]

Alternate constructor, when all parameters are known.


Member Data Documentation

Step index.

Start this at 1 at the beginning of Walk and Step behaviors, and monotonically increase it for each step during walking. Reset to 1 if the robot re-enters Walk or Step.

To specify "not a step", i.e., that an instance doesn't contain data that should be considered a step, set the step_index to -1.

Foot index (Left/Right); see AtlasFootId enum.

For the Walk behavior, the foot index needs to alternate with each step; consecutive steps with the same foot are not allowed.

Step duration.

Foot position, in Atlas world frame.

Foot orientation yaw component, in Atlas world frame.

(currently unused)

Currently Unused Parameters -- Subject to change **

(currently unused)