SingleSupport.h

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/*
 * Copyright (c) 2018-2019, CNRS-UM LIRMM
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#pragma once
 
#include <mc_control/fsm/Controller.h>
#include <mc_control/fsm/State.h>
#include <mc_tasks/CoPTask.h>
 
#include <lipm_walking/Controller.h>
#include <lipm_walking/State.h>
#include <lipm_walking/SwingFoot.h>
 
namespace lipm_walking
{
 
namespace states
{
 
struct SingleSupport : State
{
  void start() override;
 
  void teardown() override;
 
  bool checkTransitions() override;
 
  void runState() override;
 
  void updateSwingFoot();
 
  bool detectTouchdown(const std::shared_ptr<mc_tasks::SurfaceTransformTask> footTask,
                       const sva::PTransformd & contactPose);
 
  void updatePreview();
 
protected:
  void handleExternalPlan();
 
private:
  SwingFoot swingFoot_; 
  bool hasUpdatedMPCOnce_; 
  double duration_; 
  double remTime_; 
  double stateTime_; 
  double timeSinceLastPreviewUpdate_; 
  std::shared_ptr<mc_tasks::SurfaceTransformTask> swingFootTask; 
};
 
} // namespace states
 
} // namespace lipm_walking