lipm_walking::states::SingleSupport Struct Reference

#include <states/SingleSupport.h>

Inheritance diagram for lipm_walking::states::SingleSupport:

Public Member Functions
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 ()
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

Single support phase while walking.

Definition at line 47 of file SingleSupport.h.

Member Function Documentation

checkTransitions()

bool lipm_walking::states::SingleSupport::checkTransitions ( )

overridevirtual

Check transitions at beginning of control cycle.

Implements lipm_walking::State.

Definition at line 123 of file SingleSupport.cpp.

detectTouchdown()

bool lipm_walking::states::SingleSupport::detectTouchdown	(	const std::shared_ptr< mc_tasks::SurfaceTransformTask >	footTask,
		const sva::PTransformd &	contactPose
	)

Definition at line 203 of file SingleSupport.cpp.

handleExternalPlan()

void lipm_walking::states::SingleSupport::handleExternalPlan ( )

protected

Definition at line 33 of file SingleSupport.cpp.

runState()

void lipm_walking::states::SingleSupport::runState ( )

overridevirtual

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

Implements lipm_walking::State.

Definition at line 133 of file SingleSupport.cpp.

start()

void lipm_walking::states::SingleSupport::start ( )

overridevirtual

Start state.

Implements lipm_walking::State.

Definition at line 71 of file SingleSupport.cpp.

teardown()

void lipm_walking::states::SingleSupport::teardown ( )

overridevirtual

Teardown state.

Implements lipm_walking::State.

Definition at line 113 of file SingleSupport.cpp.

updatePreview()

void lipm_walking::states::SingleSupport::updatePreview

(

)

Update horizontal MPC preview.

Definition at line 216 of file SingleSupport.cpp.

updateSwingFoot()

void lipm_walking::states::SingleSupport::updateSwingFoot

(

)

Update swing foot target.

Definition at line 167 of file SingleSupport.cpp.

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

• src/states/SingleSupport.h
• src/states/SingleSupport.cpp