Atlas Sim Interface
1.0
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Structure for control data to be streamed to robot sim. More...
#include <AtlasSimInterfaceTypes.h>
Structure for control 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 | |
AtlasControlOutput () | |
Default constructor. All data members set to 0. | |
Public Attributes | |
double | f_out [Atlas::NUM_JOINTS] |
Joint torques to be applied to simulation. | |
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. | |
AtlasBehaviorFeedback | behavior_feedback |
General behavior feedback. | |
AtlasBehaviorStandFeedback | stand_feedback |
Feedback specific to the Stand behavior. | |
AtlasBehaviorStepFeedback | step_feedback |
Feedback specific to the Step behavior. | |
AtlasBehaviorWalkFeedback | walk_feedback |
Feedback specific to the Walk behavior. | |
AtlasBehaviorManipulateFeedback | manipulate_feedback |
Feedback specific to the Manipulate behavior. |
AtlasControlOutput::AtlasControlOutput | ( | ) | [inline] |
Default constructor. All data members set to 0.
Joint torques to be applied to simulation.
World position estimate for reference when giving desired step positions.
World position estimate for feet.
General behavior feedback.
Feedback specific to the Stand behavior.
Feedback specific to the Step behavior.
Feedback specific to the Walk behavior.
Feedback specific to the Manipulate behavior.