Atlas Sim Interface
1.0
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Structure for desired foot step data. More...
#include <AtlasControlTypes.h>
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) |
AtlasBehaviorStepData::AtlasBehaviorStepData | ( | ) | [inline] |
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.
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)