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

Structure for current sim state to be streamed to robot sim control. More...

#include <AtlasSimInterfaceTypes.h>


Detailed Description

Structure for current sim state to be streamed to robot sim control.

Public Member Functions

 AtlasControlDataFromRobot ()

Public Attributes

uint64_t seq_id
 (ben)
double t
 Robot/sim time.
AtlasJointState j [Atlas::NUM_JOINTS]
AtlasIMUData imu
 Packet of IMU data.
AtlasFootSensor foot_sensors [Atlas::NUM_FOOT_SENSORS]
 State of foot sensors.
AtlasWristSensor wrist_sensors [Atlas::NUM_WRIST_SENSORS]
 State of wrist sensors.
AtlasVec3f pelvis_position
AtlasVec3f pelvis_velocity

Constructor & Destructor Documentation


Member Data Documentation

(ben)

Robot/sim time.

Packet of IMU data.

State of foot sensors.

State of wrist sensors.