Atlas Behavior Library
1.0
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Structure for feedback data specific for MultiStep. More...
#include <AtlasControlTypes.h>
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. |
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.
MultiStepWalk is preparing to take a its first step by swaying the body.
MultiStepWalk is actively stepping.
MultiStepWalk has stopped stepping and is preparing to go back to Stand.
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.)
MultiStepWalk has determined the robot is falling, and is going into Freeze behavior.
MultiStepWalk detected the user tried to take 2 steps with the same foot, and attempt to go back into Stand.
AtlasBehaviorStepParams AtlasBehaviorMultiStepWalkFeedback::step_data_saturated[NUM_MULTISTEP_WALK_STEPS] |
Saturated copy of step_data from user.