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

Structure for returning errors and other information related to behaviors. More...

#include <AtlasControlTypes.h>


Detailed Description

Structure for returning errors and other information related to behaviors.

Public Member Functions

 AtlasBehaviorFeedback ()
 Default constructor.

Public Attributes

uint32_t status_flags
 Bit-wise array of AtlasBehaviorFlags values indicating non-specific-behavior status.
int trans_from_behavior_index
 Index of the behavior from which a transition is being attempted.
int trans_to_behavior_index
 Index of the behavior to which a transition is being attempted.

Constructor & Destructor Documentation

Default constructor.


Member Data Documentation

Bit-wise array of AtlasBehaviorFlags values indicating non-specific-behavior status.

See documentation for AtlasBehaviorWalkFeedback::status_flags for information on how the flags work and example code of how to use them.

Transition flags:

  • STATUS_TRANSITION_IN_PROGRESS

A transition is in progress.

  • STATUS_TRANSITION_SUCCESS

Successful transition.

  • STATUS_FAILED_TRANS_UNKNOWN_BEHAVIOR

Failed to transition; unknown behavior.

  • STATUS_FAILED_TRANS_ILLEGAL_BEHAVIOR

Denied request for an illegal behavior transition. This may happen if a transition to a new behavior is requested without going through a required intermediate behavior. (e.g., can't go from Walk straight to Manipulate.)

  • STATUS_FAILED_TRANS_COM_POS

Failed to transition; the position of the COM is too far from the center of support.

  • STATUS_FAILED_TRANS_COM_VEL

Failed to transition; the COM velocity too high.

  • STATUS_FAILED_TRANS_VEL

Failed to transition; some joint velocities too high.

Warnings:

  • STATUS_WARNING_AUTO_TRANS

An automatic transition occurred; see behavior specific feedback for reason.

Errors:

  • STATUS_ERROR_FALLING

COM below acceptable threshold, cannot recover.

Index of the behavior from which a transition is being attempted.

The string name of the behavior can be looked up by calling AtlasSimInterface::get_behavior_at_index().

Index of the behavior to which a transition is being attempted.

The string name of the behavior can be looked up by calling AtlasSimInterface::get_behavior_at_index().