Atlas Behavior Library  1.0
Public Member Functions | Public Attributes
AtlasBehaviorMultiStepWalkFeedback Struct Reference

Structure for feedback data specific for MultiStep. More...

#include <AtlasControlTypes.h>


Detailed Description

Structure for feedback data specific for MultiStep.

Public Member Functions

 AtlasBehaviorMultiStepWalkFeedback ()

Public Attributes

float t_step_rem
 Estimated step time remaining.
int32_t current_step_index
 Current step index. Starts at 0, resets on behavior changes.
int32_t next_step_index_needed
 At the next touchdown, multistep will be looking for step data with indices starting with current_step_index.
uint32_t status_flags
 Bit-wise flag indicating multistep walking status.
AtlasBehaviorStepParams step_data_saturated [NUM_MULTISTEP_WALK_STEPS]
 Saturated copy of step_data from user.

Constructor & Destructor Documentation


Member Data Documentation

Estimated step time remaining.

Current step index. Starts at 0, resets on behavior changes.

At the next touchdown, multistep will be looking for step data with indices starting with current_step_index.

Bit-wise flag indicating multistep walking status.

All flags will latch unless otherwise noted. "Latch" means that once the flag is set to 1, it won't be re-set to 0 until the behavior is left and re-entered.

All flags are 0 when the behavior begins.

  • MULTISTEP_SUBSTATE_SWAYING

MultiStepWalk is preparing to take a its first step by swaying the body.

  • MULTISTEP_SUBSTATE_STEPPING

MultiStepWalk is actively stepping.

  • MULTISTEP_SUBSTATE_CATCHING

MultiStepWalk has stopped stepping and is preparing to go back to Stand.

  • MULTISTEP_WARNING_INSUFFICIENT_STEP_DATA

MultiStepWalk was unable to find the number of steps it was looking for and has triggered an attempt to go back to Stand. (Does not latch.)

  • MULTISTEP_ERROR_FALLING

MultiStepWalk has determined the robot is falling, and is going into Freeze behavior.

  • MULTISTEP_ERROR_INCONSISTENT_STEPS

MultiStepWalk detected the user tried to take 2 steps with the same foot, and attempt to go back into Stand.

Saturated copy of step_data from user.