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

#include <states/Standing.h>

Inheritance diagram for lipm_walking::states::Standing:
lipm_walking::State

Public Member Functions

void configure (const mc_rtc::Configuration &) override
 
void start () override
 
void teardown () override
 
void checkPlanUpdates ()
 
bool checkTransitions () override
 
void runState () override
 
void updateTarget (double leftFootRatio)
 
void startWalking ()
 
- 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

Enable stabilizer and keep CoM at a reference position.

Applies a simple CoM set-point task:

\[ \ddot{c} = K (c^d - c) - B \dot{c} \]

with critical damping $B = 2 \sqrt{K}$.

Definition at line 53 of file Standing.h.

Member Function Documentation

◆ checkPlanUpdates()

void lipm_walking::states::Standing::checkPlanUpdates ( )

Check for footstep plan updates.

Definition at line 264 of file Standing.cpp.

◆ checkTransitions()

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

Check transitions at beginning of control cycle.

Implements lipm_walking::State.

Definition at line 293 of file Standing.cpp.

◆ configure()

void lipm_walking::states::Standing::configure ( const mc_rtc::Configuration &  config)
override

Definition at line 44 of file Standing.cpp.

◆ handleExternalPlan()

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

Handle requesting/receiving external plans

Definition at line 201 of file Standing.cpp.

◆ runState()

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

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

Implements lipm_walking::State.

Definition at line 177 of file Standing.cpp.

◆ start()

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

Start state.

Implements lipm_walking::State.

Definition at line 50 of file Standing.cpp.

◆ startWalking()

void lipm_walking::states::Standing::startWalking ( )

Enable startWalking_ boolean and update GUI.

Definition at line 315 of file Standing.cpp.

◆ teardown()

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

Teardown state.

Implements lipm_walking::State.

Definition at line 162 of file Standing.cpp.

◆ updateTarget()

void lipm_walking::states::Standing::updateTarget ( double  leftFootRatio)

Update target CoM and CoP.

Parameters
leftFootRatioLeft foot weight index between 0 and 1.

Definition at line 278 of file Standing.cpp.

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