lipm_walking::states::Initial Struct Reference

#include <states/Initial.h>

Inheritance diagram for lipm_walking::states::Initial:

Public Member Functions
void	start () override
void	teardown () override
bool	checkTransitions () override
void	runState () override
void	showStartStandingButton ()
void	hideStartStandingButton ()
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	internalReset ()

Additional Inherited Members
Protected Attributes inherited from lipm_walking::State
Controller *	controller_ = nullptr

Detailed Description

Hold posture and check contacts.

Definition at line 48 of file Initial.h.

Member Function Documentation

checkTransitions()

bool lipm_walking::states::Initial::checkTransitions ( )

overridevirtual

Check transitions at beginning of control cycle.

Implements lipm_walking::State.

Definition at line 103 of file Initial.cpp.

hideStartStandingButton()

void lipm_walking::states::Initial::hideStartStandingButton

(

)

Remove "Start standing" transition button from GUI.

Definition at line 123 of file Initial.cpp.

internalReset()

void lipm_walking::states::Initial::internalReset ( )

protected

Reset robot to its initial (half-sitting) configuration.

The reason why I do it inside the controller rather than via the current mc_rtc way (switching to half_sitting controller then back to this one) is https://gite.lirmm.fr/multi-contact/mc_rtc/issues/54.

Definition at line 132 of file Initial.cpp.

runState()

void lipm_walking::states::Initial::runState ( )

overridevirtual

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

Implements lipm_walking::State.

Definition at line 78 of file Initial.cpp.

showStartStandingButton()

void lipm_walking::states::Initial::showStartStandingButton

(

)

Add "Start standing" transition button to GUI.

Definition at line 113 of file Initial.cpp.

start()

void lipm_walking::states::Initial::start ( )

overridevirtual

Start state.

Implements lipm_walking::State.

Definition at line 33 of file Initial.cpp.

teardown()

void lipm_walking::states::Initial::teardown ( )

overridevirtual

Teardown state.

Implements lipm_walking::State.

Definition at line 68 of file Initial.cpp.

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

• src/states/Initial.h
• src/states/Initial.cpp