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

Enable stabilizer and keep CoM at a reference position. More...

#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
 Start state. More...
 
void teardown () override
 Teardown state. More...
 
void checkPlanUpdates ()
 Check for footstep plan updates. 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 updateTarget (double leftFootRatio)
 Update target CoM and CoP. More...
 
void startWalking ()
 Enable startWalking_ boolean and update GUI. 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 ()
 Handle requesting/receiving external plans. More...
 

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.