Classes |
struct | AtlasBehaviorStepData |
| Structure for desired foot step data. More...
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struct | AtlasBehaviorPelvisServoParams |
| Structure for parameters controlling pelvis servo. More...
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struct | AtlasBehaviorStandParams |
| Structure for parameters for the Stand behavior. More...
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struct | AtlasBehaviorStandFeedback |
| Structure for feedback data specific for Stand. More...
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struct | AtlasBehaviorStepParams |
| Structure for parameters for the Step behavior. More...
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struct | AtlasBehaviorStepFeedback |
| Structure for feedback data specific to the Step behavior. More...
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struct | AtlasBehaviorWalkParams |
| Structure for parameters for the Walk behavior. More...
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struct | AtlasBehaviorWalkFeedback |
| Structure for feedback data specific to the Walk behavior. More...
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struct | AtlasBehaviorManipulateParams |
| Structure for parameters for the Manipulate behavior. More...
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struct | AtlasBehaviorManipulateFeedback |
| Structure for feedback data specific for Manipulate. More...
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struct | AtlasBehaviorFeedback |
| Structure for returning errors and other information related to behaviors. More...
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struct | AtlasIMUData |
| Structure for returned IMU readings. More...
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struct | AtlasPositionData |
| Structure for returned Atlas robot state estimates. More...
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struct | AtlasFootSensor |
| Structure for returned foot sensors. More...
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struct | AtlasWristSensor |
| Structure for returned wrist sensors. More...
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Enumerations |
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enum | AtlasLinkId {
LINK_UNKNOWN = -1,
LINK_PELVIS = 0,
LINK_LTORSO = 1,
LINK_MTORSO = 2,
LINK_UTORSO = 3,
LINK_HEAD = 4,
LINK_L_UGLUT = 5,
LINK_L_LGLUT = 6,
LINK_L_ULEG = 7,
LINK_L_LLEG = 8,
LINK_L_TALUS = 9,
LINK_L_FOOT = 10,
LINK_R_UGLUT = 11,
LINK_R_LGLUT = 12,
LINK_R_ULEG = 13,
LINK_R_LLEG = 14,
LINK_R_TALUS = 15,
LINK_R_FOOT = 16,
LINK_L_CLAV = 17,
LINK_L_SCAP = 18,
LINK_L_UARM = 19,
LINK_L_LARM = 20,
LINK_L_FARM = 21,
LINK_L_HAND = 22,
LINK_R_CLAV = 23,
LINK_R_SCAP = 24,
LINK_R_UARM = 25,
LINK_R_LARM = 26,
LINK_R_FARM = 27,
LINK_R_HAND = 28,
NUM_LINKS
} |
| Enumerations identifying robot links. More...
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enum | AtlasJointId {
JOINT_UNKNOWN = -1,
JOINT_BACK_LBZ = 0,
JOINT_BACK_MBY = 1,
JOINT_BACK_UBX = 2,
JOINT_NECK_AY = 3,
JOINT_L_LEG_UHZ = 4,
JOINT_L_LEG_MHX = 5,
JOINT_L_LEG_LHY = 6,
JOINT_L_LEG_KNY = 7,
JOINT_L_LEG_UAY = 8,
JOINT_L_LEG_LAX = 9,
JOINT_R_LEG_UHZ = 10,
JOINT_R_LEG_MHX = 11,
JOINT_R_LEG_LHY = 12,
JOINT_R_LEG_KNY = 13,
JOINT_R_LEG_UAY = 14,
JOINT_R_LEG_LAX = 15,
JOINT_L_ARM_USY = 16,
JOINT_L_ARM_SHX = 17,
JOINT_L_ARM_ELY = 18,
JOINT_L_ARM_ELX = 19,
JOINT_L_ARM_UWY = 20,
JOINT_L_ARM_MWX = 21,
JOINT_R_ARM_USY = 22,
JOINT_R_ARM_SHX = 23,
JOINT_R_ARM_ELY = 24,
JOINT_R_ARM_ELX = 25,
JOINT_R_ARM_UWY = 26,
JOINT_R_ARM_MWX = 27,
NUM_JOINTS
} |
| Enumerations identifying robot joints. More...
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enum | AtlasFootId {
FOOT_LEFT = 0,
FOOT_RIGHT = 1,
NUM_FEET
} |
| Enumerations identifying robot feet. More...
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enum | {
FS_LEFT = 0,
FS_RIGHT,
NUM_FOOT_SENSORS
} |
| Enumerations identifying robot foot sensors. More...
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enum | {
WS_LEFT = 0,
WS_RIGHT,
NUM_WRIST_SENSORS
} |
| Enumerations identifying robot foot sensors. More...
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Behavior control types. |
#define | NUM_REQUIRED_WALK_STEPS 4 |
enum | AtlasBehaviorStandFlags {
STAND_OKAY = 0,
STAND_FLAG_PLACEHOLDER = 1 << 1
} |
enum | AtlasBehaviorStepFlags {
STEP_OKAY = 0,
STEP_SUBSTATE_SWAYING = 1 << 0,
STEP_SUBSTATE_STEPPING = 1 << 1
} |
enum | AtlasBehaviorWalkFlags {
WALK_OKAY = 0,
WALK_SUBSTATE_SWAYING = 1 << 0,
WALK_SUBSTATE_STEPPING = 1 << 1,
WALK_SUBSTATE_CATCHING = 1 << 2,
WALK_WARNING_INSUFFICIENT_STEP_DATA = 1 << 3,
WALK_ERROR_INCONSISTENT_STEPS = 1 << 4
} |
enum | AtlasBehaviorManipulateFlags {
MANIPULATE_OKAY = 0,
MANIPULATE_FLAG_PLACEHOLDER = 1 << 1
} |
enum | AtlasBehaviorFlags {
STATUS_OK = 0,
STATUS_TRANSITION_IN_PROGRESS = 1 << 0,
STATUS_TRANSITION_SUCCESS = 1 << 1,
STATUS_FAILED_TRANS_UNKNOWN_BEHAVIOR = 1 << 2,
STATUS_FAILED_TRANS_ILLEGAL_BEHAVIOR = 1 << 3,
STATUS_FAILED_TRANS_COM_POS = 1 << 4,
STATUS_FAILED_TRANS_COM_VEL = 1 << 5,
STATUS_FAILED_TRANS_VEL = 1 << 6,
STATUS_WARNING_AUTO_TRANS = 1 << 7,
STATUS_ERROR_FALLING = 1 << 8
} |