Pause.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_control/fsm/State.h>
 
namespace mc_control
{
 
namespace fsm
{
 
struct MC_CONTROL_FSM_STATE_DLLAPI PauseState : State
{
  void configure(const mc_rtc::Configuration & config) override;
 
  void start(Controller &) override;
 
  bool run(Controller &) override;
 
  void teardown(Controller &) override {}
 
protected:
  double duration_ = 0.0;
  unsigned int tick_;
  unsigned int goal_;
};
 
} // namespace fsm
 
} // namespace mc_control