Public Member Functions | Protected Member Functions | List of all members
lipm_walking::states::DoubleSupport Struct Reference

#include <states/DoubleSupport.h>

Inheritance diagram for lipm_walking::states::DoubleSupport:
lipm_walking::State

Public Member Functions

void start () override
 
void teardown () override
 
bool checkTransitions () override
 
bool checkInitialSupport ()
 
void runState () override
 
void updatePreview ()
 
- Public Member Functions inherited from lipm_walking::State
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Controller & controller ()
 
std::shared_ptr< mc_rtc::gui::StateBuilder > gui ()
 
mc_rtc::Logger & logger ()
 
mc_planning::Pendulum & pendulum ()
 
FootstepPlan & plan ()
 
bool run (mc_control::fsm::Controller &) override
 
std::shared_ptr< mc_tasks::lipm_stabilizer::StabilizerTask > stabilizer ()
 
void start (mc_control::fsm::Controller &controller) override
 
void teardown (mc_control::fsm::Controller &) override
 

Protected Member Functions

void handleExternalPlan ()
 

Additional Inherited Members

- Protected Attributes inherited from lipm_walking::State
Controller * controller_ = nullptr
 

Detailed Description

Double support phase while walking.

Definition at line 45 of file DoubleSupport.h.

Member Function Documentation

◆ checkInitialSupport()

bool lipm_walking::states::DoubleSupport::checkInitialSupport ( )

Check whether the support estiblishement was good (force above threshold for N iterations) If not, stop during this DSP

Returns
False as soon as the contact is considered invalid

Definition at line 35 of file DoubleSupport.cpp.

◆ checkTransitions()

bool lipm_walking::states::DoubleSupport::checkTransitions ( )
overridevirtual

Check transitions at beginning of control cycle.

Implements lipm_walking::State.

Definition at line 162 of file DoubleSupport.cpp.

◆ handleExternalPlan()

void lipm_walking::states::DoubleSupport::handleExternalPlan ( )
protected

Definition at line 43 of file DoubleSupport.cpp.

◆ runState()

void lipm_walking::states::DoubleSupport::runState ( )
overridevirtual

Main state function, called if no transition at this cycle.

Implements lipm_walking::State.

Definition at line 138 of file DoubleSupport.cpp.

◆ start()

void lipm_walking::states::DoubleSupport::start ( )
overridevirtual

Start state.

Implements lipm_walking::State.

Definition at line 62 of file DoubleSupport.cpp.

◆ teardown()

void lipm_walking::states::DoubleSupport::teardown ( )
overridevirtual

Teardown state.

Implements lipm_walking::State.

Definition at line 132 of file DoubleSupport.cpp.

◆ updatePreview()

void lipm_walking::states::DoubleSupport::updatePreview ( )

Update horizontal MPC preview.

Definition at line 183 of file DoubleSupport.cpp.

The documentation for this struct was generated from the following files: