Atlas Sim Interface
1.0
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Structure for feedback data specific to the Step behavior. More...
#include <AtlasControlTypes.h>
Structure for feedback data specific to the Step behavior.
Public Member Functions | |
AtlasBehaviorStepFeedback () | |
Default constructor. | |
Public Attributes | |
float | t_step_rem |
Estimated step time remaining before new step data is needed. | |
int32_t | current_step_index |
Current step index. | |
int32_t | next_step_index_needed |
Next step index needed. | |
uint32_t | status_flags |
Bit-wise array of AtlasBehaviorStepFlags values indicating Walk behavior status. | |
AtlasBehaviorStepData | desired_step_saturated |
Saturated copy of desired_step from user. |
AtlasBehaviorStepFeedback::AtlasBehaviorStepFeedback | ( | ) | [inline] |
Default constructor.
Estimated step time remaining before new step data is needed.
Current step index.
Step index 0 is the position of the foot at the beginning of Step behavior. Step index 1 is the first user-specified foot position, etc.
The step index will increase as Step progresses. It will reset to 0 on behavior changes.
Next step index needed.
At the next touchdown, Walk will be looking for step data with indices starting with next_step_index_needed. In general this will be current_step_index + 1.
This variable should be watched to know when the next step should be queued.
Bit-wise array of AtlasBehaviorStepFlags values indicating Walk behavior status.
All flags are 0 when the behavior begins, and will be set to 1 at appropriate times.
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.
Flags:
Feet are in double support. This flag does not latch. Only one of STEP_SUBSTATE_SWAYING or STEP_SUBSTATE_STEPPING will be set at any given time.
Actively stepping; one foot is in the air. This flag does not latch.
Saturated copy of desired_step from user.
Step will do its best to reach the desired step data, but may have to modify data to fit within constraints. The modified data is contained in this variable.