Posture.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_control/CompletionCriteria.h>
#include <mc_control/fsm/State.h>
#include <mc_tasks/PostureTask.h>
 
namespace mc_control
{
 
namespace fsm
{
 
struct MC_CONTROL_FSM_STATE_DLLAPI PostureState : State
{
  void configure(const mc_rtc::Configuration & config) override;
 
  void start(Controller &) override;
 
  bool run(Controller &) override;
 
  void teardown(Controller &) override;
 
protected:
  mc_rtc::Configuration config_;
  std::string robot_ = "";
  mc_control::CompletionCriteria crit_;
  bool hasCompletion_ = false;
  mc_rtc::Configuration completion_;
};
 
} // namespace fsm
 
} // namespace mc_control