Atlas Sim Interface
1.0
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Structure for returning errors and other information related to behaviors. More...
#include <AtlasControlTypes.h>
Structure for returning errors and other information related to behaviors.
Public Member Functions | |
AtlasBehaviorFeedback () | |
Default constructor. | |
Public Attributes | |
uint32_t | status_flags |
Bit-wise array of AtlasBehaviorFlags values indicating non-specific-behavior status. | |
int | trans_from_behavior_index |
Index of the behavior from which a transition is being attempted. | |
int | trans_to_behavior_index |
Index of the behavior to which a transition is being attempted. |
AtlasBehaviorFeedback::AtlasBehaviorFeedback | ( | ) | [inline] |
Default constructor.
uint32_t AtlasBehaviorFeedback::status_flags |
Bit-wise array of AtlasBehaviorFlags values indicating non-specific-behavior status.
See documentation for AtlasBehaviorWalkFeedback::status_flags for information on how the flags work and example code of how to use them.
Transition flags:
A transition is in progress.
Successful transition.
Failed to transition; unknown behavior.
Denied request for an illegal behavior transition. This may happen if a transition to a new behavior is requested without going through a required intermediate behavior. (e.g., can't go from Walk straight to Manipulate.)
Failed to transition; the position of the COM is too far from the center of support.
Failed to transition; the COM velocity too high.
Failed to transition; some joint velocities too high.
Warnings:
An automatic transition occurred; see behavior specific feedback for reason.
Errors:
COM below acceptable threshold, cannot recover.
Index of the behavior from which a transition is being attempted.
The string name of the behavior can be looked up by calling AtlasSimInterface::get_behavior_at_index().
Index of the behavior to which a transition is being attempted.
The string name of the behavior can be looked up by calling AtlasSimInterface::get_behavior_at_index().