Atlas Sim Interface  1.0
Public Member Functions | Public Attributes
AtlasBehaviorPelvisServoParams Struct Reference

Structure for parameters controlling pelvis servo. More...

#include <AtlasControlTypes.h>


Detailed Description

Structure for parameters controlling pelvis servo.

Public Member Functions

 AtlasBehaviorPelvisServoParams ()

Public Attributes

float pelvis_height
 User desired height of the pelvis.
float pelvis_yaw
 User desired yaw angle of the pelvis.
float pelvis_lat
 User desired horizontal offset of the COM.

Constructor & Destructor Documentation


Member Data Documentation

User desired height of the pelvis.

User desired yaw angle of the pelvis.

Centered about the average yaw of the feet.

User desired horizontal offset of the COM.

In the direction of the vector between the two feet, centered about the average position of the two feet.