lipm_walking::State Struct Reference

Convenience wrapper for FSM states. More...

#include <lipm_walking/State.h>

Inheritance diagram for lipm_walking::State:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW void	configure (const mc_rtc::Configuration &) override
	No configuration by default. More...
Controller &	controller ()
	Get controller. More...
std::shared_ptr< mc_rtc::gui::StateBuilder >	gui ()
	Get GUI handle. More...
mc_rtc::Logger &	logger ()
	Get logger. More...
mc_planning::Pendulum &	pendulum ()
	Get pendulum reference. More...
FootstepPlan &	plan ()
	Get footstep plan. More...
bool	run (mc_control::fsm::Controller &) override
	Main function. More...
std::shared_ptr< mc_tasks::lipm_stabilizer::StabilizerTask >	stabilizer ()
	Get stabilizer. More...
void	start (mc_control::fsm::Controller &controller) override
	Start function. More...
void	teardown (mc_control::fsm::Controller &) override
	Teardown function. More...
virtual bool	checkTransitions ()=0
virtual void	runState ()=0
virtual void	start ()=0
virtual void	teardown ()=0

Protected Attributes
Controller *	controller_ = nullptr

Detailed Description

Convenience wrapper for FSM states.

Definition at line 38 of file State.h.

Member Function Documentation

checkTransitions()

virtual bool lipm_walking::State::checkTransitions ( )

pure virtual

Implemented in lipm_walking::states::Standing, lipm_walking::states::Initial, lipm_walking::states::SingleSupport, lipm_walking::states::DoubleSupport, and lipm_walking::states::RunStabilizer.

configure()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW void lipm_walking::State::configure ( const mc_rtc::Configuration &  )

inlineoverride

No configuration by default.

Definition at line 45 of file State.h.

controller()

Controller& lipm_walking::State::controller ( )

inline

Get controller.

Returns

controller Reference to controller.

Definition at line 52 of file State.h.

gui()

std::shared_ptr<mc_rtc::gui::StateBuilder> lipm_walking::State::gui ( )

inline

Get GUI handle.

Returns

gui GUI handle.

Definition at line 62 of file State.h.

logger()

mc_rtc::Logger& lipm_walking::State::logger ( )

inline

Get logger.

Returns

logger Reference to logger.

Definition at line 72 of file State.h.

pendulum()

mc_planning::Pendulum& lipm_walking::State::pendulum ( )

inline

Get pendulum reference.

Returns

pendulum Reference to pendulum state.

Definition at line 82 of file State.h.

plan()

FootstepPlan& lipm_walking::State::plan ( )

inline

Get footstep plan.

Returns

plan Reference to footstep plan.

Definition at line 92 of file State.h.

run()

bool lipm_walking::State::run ( mc_control::fsm::Controller &  )

inlineoverride

Main function.

Definition at line 100 of file State.h.

runState()

virtual void lipm_walking::State::runState ( )

pure virtual

Implemented in lipm_walking::states::Standing, lipm_walking::states::DoubleSupport, lipm_walking::states::Initial, lipm_walking::states::SingleSupport, and lipm_walking::states::RunStabilizer.

stabilizer()

std::shared_ptr<mc_tasks::lipm_stabilizer::StabilizerTask> lipm_walking::State::stabilizer ( )

inline

Get stabilizer.

Returns

stabilizer Reference to stabilizer.

Definition at line 115 of file State.h.

start() [1/2]

virtual void lipm_walking::State::start ( )

pure virtual

Implemented in lipm_walking::states::Standing, lipm_walking::states::Initial, lipm_walking::states::SingleSupport, lipm_walking::states::DoubleSupport, and lipm_walking::states::RunStabilizer.

start() [2/2]

void lipm_walking::State::start ( mc_control::fsm::Controller &  controller )

inlineoverride

Start function.

Definition at line 123 of file State.h.

teardown() [1/2]

virtual void lipm_walking::State::teardown ( )

pure virtual

Implemented in lipm_walking::states::Standing, lipm_walking::states::Initial, lipm_walking::states::SingleSupport, lipm_walking::states::DoubleSupport, and lipm_walking::states::RunStabilizer.

teardown() [2/2]

void lipm_walking::State::teardown ( mc_control::fsm::Controller &  )

inlineoverride

Teardown function.

Definition at line 132 of file State.h.

Member Data Documentation

controller_

Controller* lipm_walking::State::controller_ = nullptr

protected

Definition at line 143 of file State.h.