Atlas Behavior Library  1.0
Classes | Defines | Enumerations
AtlasSimInterfaceTypes.h File Reference
#include "AtlasSimVectorTypes.h"
#include <stdint.h>
#include <sys/types.h>

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 Documentation

#define ATLAS_SIM_SOFTWARE_VERSION_STRING   "1.0.3"