Atlas Sim Interface  1.0
Classes
AtlasControlTypes.h File Reference
#include "AtlasVectorTypes.h"
#include <stdint.h>
#include <sys/types.h>

Go to the source code of this file.

Classes

struct  AtlasBehaviorStepData
 Structure for desired foot step data. More...
struct  AtlasBehaviorPelvisServoParams
 Structure for parameters controlling pelvis servo. More...
struct  AtlasBehaviorStandParams
 Structure for parameters for the Stand behavior. More...
struct  AtlasBehaviorStandFeedback
 Structure for feedback data specific for Stand. More...
struct  AtlasBehaviorStepParams
 Structure for parameters for the Step behavior. More...
struct  AtlasBehaviorStepFeedback
 Structure for feedback data specific to the Step behavior. More...
struct  AtlasBehaviorWalkParams
 Structure for parameters for the Walk behavior. More...
struct  AtlasBehaviorWalkFeedback
 Structure for feedback data specific to the Walk behavior. More...
struct  AtlasBehaviorManipulateParams
 Structure for parameters for the Manipulate behavior. More...
struct  AtlasBehaviorManipulateFeedback
 Structure for feedback data specific for Manipulate. More...
struct  AtlasBehaviorFeedback
 Structure for returning errors and other information related to behaviors. More...
struct  AtlasIMUData
 Structure for returned IMU readings. More...
struct  AtlasPositionData
 Structure for returned Atlas robot state estimates. More...
struct  AtlasFootSensor
 Structure for returned foot sensors. More...
struct  AtlasWristSensor
 Structure for returned wrist sensors. More...

Enumerations

Link and Joint Enumerations.
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...
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...
enum  AtlasFootId {
  FOOT_LEFT = 0,
  FOOT_RIGHT = 1,
  NUM_FEET
}
 Enumerations identifying robot feet. More...
From-robot types and enumerations.
enum  {
  FS_LEFT = 0,
  FS_RIGHT,
  NUM_FOOT_SENSORS
}
 Enumerations identifying robot foot sensors. More...
enum  {
  WS_LEFT = 0,
  WS_RIGHT,
  NUM_WRIST_SENSORS
}
 Enumerations identifying robot foot sensors. More...

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
}

Define Documentation

#define NUM_REQUIRED_WALK_STEPS   4

Enumeration Type Documentation

Enumerations identifying robot links.

AtlasLinkId

Enumerator:
LINK_UNKNOWN 
LINK_PELVIS 
LINK_LTORSO 
LINK_MTORSO 
LINK_UTORSO 
LINK_HEAD 
LINK_L_UGLUT 
LINK_L_LGLUT 
LINK_L_ULEG 
LINK_L_LLEG 
LINK_L_TALUS 
LINK_L_FOOT 
LINK_R_UGLUT 
LINK_R_LGLUT 
LINK_R_ULEG 
LINK_R_LLEG 
LINK_R_TALUS 
LINK_R_FOOT 
LINK_L_CLAV 
LINK_L_SCAP 
LINK_L_UARM 
LINK_L_LARM 
LINK_L_FARM 
LINK_L_HAND 
LINK_R_CLAV 
LINK_R_SCAP 
LINK_R_UARM 
LINK_R_LARM 
LINK_R_FARM 
LINK_R_HAND 
NUM_LINKS 

Enumerations identifying robot joints.

AtlasJointId

Enumerator:
JOINT_UNKNOWN 
JOINT_BACK_LBZ 
JOINT_BACK_MBY 
JOINT_BACK_UBX 
JOINT_NECK_AY 
JOINT_L_LEG_UHZ 
JOINT_L_LEG_MHX 
JOINT_L_LEG_LHY 
JOINT_L_LEG_KNY 
JOINT_L_LEG_UAY 
JOINT_L_LEG_LAX 
JOINT_R_LEG_UHZ 
JOINT_R_LEG_MHX 
JOINT_R_LEG_LHY 
JOINT_R_LEG_KNY 
JOINT_R_LEG_UAY 
JOINT_R_LEG_LAX 
JOINT_L_ARM_USY 
JOINT_L_ARM_SHX 
JOINT_L_ARM_ELY 
JOINT_L_ARM_ELX 
JOINT_L_ARM_UWY 
JOINT_L_ARM_MWX 
JOINT_R_ARM_USY 
JOINT_R_ARM_SHX 
JOINT_R_ARM_ELY 
JOINT_R_ARM_ELX 
JOINT_R_ARM_UWY 
JOINT_R_ARM_MWX 
NUM_JOINTS 

Enumerations identifying robot feet.

AtlasFootId

Enumerator:
FOOT_LEFT 
FOOT_RIGHT 
NUM_FEET 

AtlasBehaviorStandFlags

Enumerator:
STAND_OKAY 
STAND_FLAG_PLACEHOLDER 

AtlasBehaviorStepFlags

Descriptions of the flags are in the AtlasBehaviorStepFeedback status_flags variable.

Enumerator:
STEP_OKAY 
STEP_SUBSTATE_SWAYING 
STEP_SUBSTATE_STEPPING 

AtlasBehaviorWalkFlags

Descriptions of the flags are in the AtlasBehaviorWalkFeedback status_flags variable.

Enumerator:
WALK_OKAY 
WALK_SUBSTATE_SWAYING 
WALK_SUBSTATE_STEPPING 
WALK_SUBSTATE_CATCHING 
WALK_WARNING_INSUFFICIENT_STEP_DATA 
WALK_ERROR_INCONSISTENT_STEPS 

AtlasBehaviorManipulateFlags

Enumerator:
MANIPULATE_OKAY 
MANIPULATE_FLAG_PLACEHOLDER 

AtlasBehaviorFlags

Descriptions of the flags are with the AtlasBehaviorFeedback status_flags variable.

Enumerator:
STATUS_OK 

Normal operation, nothing to report.

STATUS_TRANSITION_IN_PROGRESS 
STATUS_TRANSITION_SUCCESS 
STATUS_FAILED_TRANS_UNKNOWN_BEHAVIOR 
STATUS_FAILED_TRANS_ILLEGAL_BEHAVIOR 
STATUS_FAILED_TRANS_COM_POS 
STATUS_FAILED_TRANS_COM_VEL 
STATUS_FAILED_TRANS_VEL 
STATUS_WARNING_AUTO_TRANS 
STATUS_ERROR_FALLING 
anonymous enum

Enumerations identifying robot foot sensors.

AtlasFootSensorId

Enumerator:
FS_LEFT 
FS_RIGHT 
NUM_FOOT_SENSORS 
anonymous enum

Enumerations identifying robot foot sensors.

AtlasWristSensorId

Enumerator:
WS_LEFT 
WS_RIGHT 
NUM_WRIST_SENSORS