lipm_walking::states::SingleSupport Struct Reference
Single support phase while walking. More...
#include <states/SingleSupport.h>
Inheritance diagram for lipm_walking::states::SingleSupport:
Public Member Functions | |
| 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 | updateSwingFoot () |
| Update swing foot target. More... | |
| bool | detectTouchdown (const std::shared_ptr< mc_tasks::SurfaceTransformTask > footTask, const sva::PTransformd &contactPose) |
| void | updatePreview () |
| Update horizontal MPC preview. More... | |
 Public Member Functions inherited from lipm_walking::State | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW 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 | 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()
|
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()
|
protected |
Definition at line 33 of file SingleSupport.cpp.
◆ 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()
|
overridevirtual |
◆ teardown()
|
overridevirtual |
◆ 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.
