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

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

#include <AtlasSimInterfaceTypes.h>


Detailed Description

Structure for control output 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

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

Public Attributes

AtlasJointDesired j [Atlas::NUM_JOINTS]
AtlasJointControlParams jparams [Atlas::NUM_JOINTS]
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.
uint32_t current_step_index
 Current step index in multi_step or single_step modes.

Constructor & Destructor Documentation

Default constructor. All data members set to 0.


Member Data Documentation

World position estimate for reference when giving desired step positions.

World position estimate for feet.

Current step index in multi_step or single_step modes.