RunStabilizer.cpp

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/*
 * Copyright (c) 2020, CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#include "RunStabilizer.h"
 
namespace lipm_walking
{
 
void states::RunStabilizer::start()
{
  auto & ctl = controller();
  ctl.solver().addTask(stabilizer());
  output("OK");
}
 
void states::RunStabilizer::runState() {}
 
void states::RunStabilizer::teardown()
{
  auto & ctl = controller();
  ctl.solver().removeTask(stabilizer());
}
 
bool states::RunStabilizer::checkTransitions()
{
  return true;
}
 
} // namespace lipm_walking
 
EXPORT_SINGLE_STATE("LIPMWalking::RunStabilizer", lipm_walking::states::RunStabilizer)