StabilizerStandingState.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_control/fsm/State.h>
#include <mc_planning/Pendulum.h>
#include <mc_tasks/lipm_stabilizer/Contact.h>
 
namespace mc_tasks
{
namespace lipm_stabilizer
{
struct StabilizerTask;
}
} // namespace mc_tasks
 
namespace mc_control
{
namespace fsm
{
 
struct StabilizerStandingState : State
{
  void configure(const mc_rtc::Configuration & config) override;
 
  void start(Controller &) override;
 
  bool run(Controller &) override;
 
  void teardown(Controller &) override;
 
protected:
  void targetCoP(const Eigen::Vector3d & cop);
 
  void targetCoM(const Eigen::Vector3d & com);
 
  double copHeight() const;
 
protected:
  std::shared_ptr<mc_tasks::lipm_stabilizer::StabilizerTask> stabilizerTask_ = nullptr;
  mc_rtc::Configuration config_; 
  bool hasCompletion_ = false; 
  Eigen::Vector3d dcmThreshold_ = Eigen::Vector3d{0.01, 0.01, 0.01}; 
  mc_planning::Pendulum pendulum_; 
  double K_ = 5; 
  double D_ = 0.; 
  double comHeight_ = 0; 
  Eigen::Vector3d comTarget_ = Eigen::Vector3d::Zero(); 
  Eigen::Vector3d copTarget_ = Eigen::Vector3d::Zero(); 
  bool optionalGUI_ = true; 
  std::string robot_ = "";
  std::string anchorFrameFunction_ = "";
  bool ownsAnchorFrameCallback_ =
      false; 
};
 
} // namespace fsm
} // namespace mc_control