Atlas Behavior Library  1.0
Public Member Functions | Public Attributes
AtlasBehaviorStepData Struct Reference

Structure for desired foot step data. More...

#include <AtlasControlTypes.h>


Detailed Description

Structure for desired foot step data.

Public Member Functions

 AtlasBehaviorStepData ()
 Default constructor.
 AtlasBehaviorStepData (int32_t _step_index, int32_t _foot_index, float _duration, AtlasVec3f _position, float _yaw, AtlasVec3f _normal, float _swing_height)
 Alternate constructor, when all parameters are known.

Public Attributes

int32_t step_index
 Step index.
int32_t foot_index
 Foot index (Left/Right); see AtlasFootId enum.
float duration
 Step duration.
AtlasVec3f position
 Foot position in Atlas world frame.
float yaw
 Foot orientation yaw component.
AtlasVec3f normal
 Foot ground normal.
float swing_height
 Step apex swing height as measured from the midpoint between the feet.

Constructor & Destructor Documentation

Default constructor.

AtlasBehaviorStepData::AtlasBehaviorStepData ( int32_t  _step_index,
int32_t  _foot_index,
float  _duration,
AtlasVec3f  _position,
float  _yaw,
AtlasVec3f  _normal,
float  _swing_height 
) [inline]

Alternate constructor, when all parameters are known.


Member Data Documentation

Step index.

Start this at 1 at the beginning of Walk and Step behaviors, and monotonically increase it for each step during walking. Reset to 1 if the robot re-enters Walk or Step.

Foot index (Left/Right); see AtlasFootId enum.

Step duration.

Foot position in Atlas world frame.

Foot orientation yaw component.

Foot ground normal.

Currently Unused Parameters -- Subject to change **

Step apex swing height as measured from the midpoint between the feet.