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

Structure for control data to be streamed to robot sim. More...

#include <AtlasSimInterfaceTypes.h>


Detailed Description

Structure for control data to be streamed to robot sim.

This structure is for holding data that is to be streamed to the robot at a high rate. Most of this data will be parameters for actuator control.

Public Member Functions

 AtlasControlOutput ()
 Default constructor. All data members set to 0.

Public Attributes

double f_out [Atlas::NUM_JOINTS]
 Joint torques to be applied to simulation.
AtlasPositionData pos_est
 World position estimate for reference when giving desired step positions.
AtlasVec3f foot_pos_est [Atlas::NUM_FEET]
 World position estimate for feet.
AtlasBehaviorFeedback behavior_feedback
 General behavior feedback.
AtlasBehaviorStandFeedback stand_feedback
 Feedback specific to the Stand behavior.
AtlasBehaviorStepFeedback step_feedback
 Feedback specific to the Step behavior.
AtlasBehaviorWalkFeedback walk_feedback
 Feedback specific to the Walk behavior.
AtlasBehaviorManipulateFeedback manipulate_feedback
 Feedback specific to the Manipulate behavior.

Constructor & Destructor Documentation

Default constructor. All data members set to 0.


Member Data Documentation

Joint torques to be applied to simulation.

World position estimate for reference when giving desired step positions.

World position estimate for feet.

General behavior feedback.

Feedback specific to the Stand behavior.

Feedback specific to the Step behavior.

Feedback specific to the Walk behavior.

Feedback specific to the Manipulate behavior.