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Atlas Behavior Library
1.0
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Go to the source code of this file.
Classes | |
struct | AtlasJointDesired |
Structure for specifying joint setpoints. More... | |
struct | AtlasJointControlParams |
Structure for specifying controller parameters. More... | |
struct | AtlasControlDataToRobot |
Structure for control output data to be streamed to robot sim. More... | |
struct | AtlasJointState |
Structure for holding robot joint state. More... | |
struct | AtlasIMUData |
Structure for returned IMU readings. More... | |
struct | AtlasFootSensor |
Structure for returned foot sensors. More... | |
struct | AtlasWristSensor |
Structure for returned wrist sensors. More... | |
struct | AtlasControlDataFromRobot |
Structure for current sim state to be streamed to robot sim control. More... | |
Defines | |
#define | ATLAS_SIM_SOFTWARE_VERSION_STRING "1.0.3" |
#define | ATLAS_SIM_SOFTWARE_VERSION_MAJOR 1 |
#define | ATLAS_SIM_SOFTWARE_VERSION_MINOR 0 |
#define | ATLAS_SIM_SOFTWARE_VERSION_POINT 3 |
Enumerations | |
enum | AtlasLinkId { Atlas::LINK_UNKNOWN = -1, Atlas::LINK_PELVIS = 0, Atlas::LINK_LTORSO = 1, Atlas::LINK_MTORSO = 2, Atlas::LINK_UTORSO = 3, Atlas::LINK_HEAD = 4, Atlas::LINK_L_UGLUT = 5, Atlas::LINK_L_LGLUT = 6, Atlas::LINK_L_ULEG = 7, Atlas::LINK_L_LLEG = 8, Atlas::LINK_L_TALUS = 9, Atlas::LINK_L_FOOT = 10, Atlas::LINK_R_UGLUT = 11, Atlas::LINK_R_LGLUT = 12, Atlas::LINK_R_ULEG = 13, Atlas::LINK_R_LLEG = 14, Atlas::LINK_R_TALUS = 15, Atlas::LINK_R_FOOT = 16, Atlas::LINK_L_CLAV = 17, Atlas::LINK_L_SCAP = 18, Atlas::LINK_L_UARM = 19, Atlas::LINK_L_LARM = 20, Atlas::LINK_L_FARM = 21, Atlas::LINK_L_HAND = 22, Atlas::LINK_R_CLAV = 23, Atlas::LINK_R_SCAP = 24, Atlas::LINK_R_UARM = 25, Atlas::LINK_R_LARM = 26, Atlas::LINK_R_FARM = 27, Atlas::LINK_R_HAND = 28, Atlas::NUM_LINKS } |
enum | AtlasJointId { Atlas::JOINT_UNKNOWN = -1, Atlas::JOINT_BACK_LBZ = 0, Atlas::JOINT_BACK_MBY = 1, Atlas::JOINT_BACK_UBX = 2, Atlas::JOINT_NECK_AY = 3, Atlas::JOINT_L_LEG_UHZ = 4, Atlas::JOINT_L_LEG_MHX = 5, Atlas::JOINT_L_LEG_LHY = 6, Atlas::JOINT_L_LEG_KNY = 7, Atlas::JOINT_L_LEG_UAY = 8, Atlas::JOINT_L_LEG_LAX = 9, Atlas::JOINT_R_LEG_UHZ = 10, Atlas::JOINT_R_LEG_MHX = 11, Atlas::JOINT_R_LEG_LHY = 12, Atlas::JOINT_R_LEG_KNY = 13, Atlas::JOINT_R_LEG_UAY = 14, Atlas::JOINT_R_LEG_LAX = 15, Atlas::JOINT_L_ARM_USY = 16, Atlas::JOINT_L_ARM_SHX = 17, Atlas::JOINT_L_ARM_ELY = 18, Atlas::JOINT_L_ARM_ELX = 19, Atlas::JOINT_L_ARM_UWY = 20, Atlas::JOINT_L_ARM_MWX = 21, Atlas::JOINT_R_ARM_USY = 22, Atlas::JOINT_R_ARM_SHX = 23, Atlas::JOINT_R_ARM_ELY = 24, Atlas::JOINT_R_ARM_ELX = 25, Atlas::JOINT_R_ARM_UWY = 26, Atlas::JOINT_R_ARM_MWX = 27, Atlas::NUM_JOINTS } |
enum | { Atlas::FS_LEFT = 0, Atlas::FS_RIGHT, Atlas::NUM_FOOT_SENSORS } |
enum | { Atlas::WS_LEFT = 0, Atlas::WS_RIGHT, Atlas::NUM_WRIST_SENSORS } |
enum | AtlasBehaviorParameterId { Atlas::BEHAVIOR_PARAM_DESIRED_YAW_RATE = 0, Atlas::BEHAVIOR_PARAM_DESIRED_VELOCITY, Atlas::NUM_BEHAVIOR_PARAMS } |
enum | AtlasErrorCode { Atlas::NO_ERROR = 0, Atlas::ERROR_UNSPECIFIED = -1, Atlas::ERROR_VALUE_OUT_OF_RANGE = -2, Atlas::ERROR_INVALID_INDEX = -3, Atlas::ERROR_FAILED_TO_START_BEHAVIOR = -4, Atlas::ERROR_NO_ACTIVE_BEHAVIOR = -5, Atlas::ERROR_NO_SUCH_BEHAVIOR = -6, Atlas::ERROR_BEHAVIOR_NOT_IMPLEMENTED = -7, Atlas::ERROR_TIME_RAN_BACKWARD = -8, Atlas::ERROR_INVALID_PARAMETER = -9, Atlas::NUM_ERRORS } |
#define ATLAS_SIM_SOFTWARE_VERSION_STRING "1.0.3" |
#define ATLAS_SIM_SOFTWARE_VERSION_MAJOR 1 |
#define ATLAS_SIM_SOFTWARE_VERSION_MINOR 0 |
#define ATLAS_SIM_SOFTWARE_VERSION_POINT 3 |