Hold posture and check contacts. More...
#include <states/Initial.h>
Public Member Functions | |
| void | configure (const mc_rtc::Configuration &config) override |
| void | start () override |
| Start state. More... | |
| void | teardown () override |
| Teardown state. More... | |
| bool | checkTransitions () override |
| Check transitions at beginning of control cycle. More... | |
| void | runState () override |
| Main state function, called if no transition at this cycle. More... | |
| void | showStartStandingButton () |
| Add "Start standing" transition button to GUI. More... | |
| void | hideStartStandingButton () |
| Remove "Start standing" transition button from GUI. More... | |
 Public Member Functions inherited from lipm_walking::State | |
| 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... | |
Protected Member Functions | |
| void | internalReset () |
| Reset robot to its initial (half-sitting) configuration. More... | |
Additional Inherited Members | |
| Protected Attributes inherited from lipm_walking::State | |
| Controller * | controller_ = nullptr |
Detailed Description
Member Function Documentation
◆ checkTransitions()
|
overridevirtual |
Check transitions at beginning of control cycle.
Implements lipm_walking::State.
Definition at line 98 of file Initial.cpp.
◆ configure()
|
override |
Definition at line 33 of file Initial.cpp.
◆ hideStartStandingButton()
| void lipm_walking::states::Initial::hideStartStandingButton | ( | ) |
Remove "Start standing" transition button from GUI.
Definition at line 118 of file Initial.cpp.
◆ 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 127 of file Initial.cpp.
◆ runState()
|
overridevirtual |
Main state function, called if no transition at this cycle.
Implements lipm_walking::State.
Definition at line 73 of file Initial.cpp.
◆ showStartStandingButton()
| void lipm_walking::states::Initial::showStartStandingButton | ( | ) |
Add "Start standing" transition button to GUI.
Definition at line 108 of file Initial.cpp.
◆ start()
|
overridevirtual |
◆ teardown()
|
overridevirtual |
