Atlas Behavior Library
1.0
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Structure for control output data to be streamed to robot sim. More...
#include <AtlasSimInterfaceTypes.h>
Structure for control output data to be streamed to robot sim.
This structure is for holding data that is to be streamed to the robot at a high rate. Most of this data will be parameters for actuator control.
Public Member Functions | |
AtlasControlDataToRobot () | |
Default constructor. All data members set to 0. | |
Public Attributes | |
AtlasJointDesired | j [Atlas::NUM_JOINTS] |
AtlasJointControlParams | jparams [Atlas::NUM_JOINTS] |
AtlasPositionData | pos_est |
World position estimate for reference when giving desired step positions. | |
AtlasVec3f | foot_pos_est [Atlas::NUM_FEET] |
World position estimate for feet. | |
uint32_t | current_step_index |
Current step index in multi_step or single_step modes. |
AtlasControlDataToRobot::AtlasControlDataToRobot | ( | ) | [inline] |
Default constructor. All data members set to 0.
World position estimate for reference when giving desired step positions.
World position estimate for feet.
Current step index in multi_step or single_step modes.