lipm_walking::states::RunStabilizer Struct Reference
Adds/removes the global stabilizer task to the QP. More...
#include <states/RunStabilizer.h>
Inheritance diagram for lipm_walking::states::RunStabilizer:
Public Member Functions | |
| void | start () override |
| void | teardown () override |
| void | runState () override |
| bool | checkTransitions () override |
| Always true. 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... | |
Additional Inherited Members | |
| Protected Attributes inherited from lipm_walking::State | |
| Controller * | controller_ = nullptr |
Detailed Description
Adds/removes the global stabilizer task to the QP.
Definition at line 22 of file RunStabilizer.h.
Member Function Documentation
◆ checkTransitions()
|
overridevirtual |
◆ runState()
|
overridevirtual |
Implements lipm_walking::State.
Definition at line 17 of file RunStabilizer.cpp.
◆ start()
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overridevirtual |
Implements lipm_walking::State.
Definition at line 10 of file RunStabilizer.cpp.
◆ teardown()
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overridevirtual |
Implements lipm_walking::State.
Definition at line 19 of file RunStabilizer.cpp.
