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

Structure for feedback data specific to the Step behavior. More...

#include <AtlasControlTypes.h>


Detailed Description

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.

Constructor & Destructor Documentation

Default constructor.


Member Data Documentation

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:

  • STEP_SUBSTATE_SWAYING

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.

  • STEP_SUBSTATE_STEPPING

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.