mc_control::fsm::AddRemoveContactState Struct Reference

#include <mc_control/fsm/states/AddRemoveContact.h>

Inheritance diagram for mc_control::fsm::AddRemoveContactState:

Collaboration diagram for mc_control::fsm::AddRemoveContactState:

Public Member Functions
	AddRemoveContactState ()
virtual	~AddRemoveContactState ()
void	start (Controller &) override
bool	run (Controller &) override
void	teardown (Controller &) override
Public Member Functions inherited from mc_control::fsm::State
virtual	~State ()
void	configure_ (const mc_rtc::Configuration &config)
void	start_ (Controller &ctl)
void	teardown_ (Controller &ctl)
virtual void	stop (Controller &)
virtual bool	read_msg (std::string &)
virtual bool	read_write_msg (std::string &, std::string &)
const std::string &	output () const noexcept
const std::string &	name ()
void	name (const std::string &n)

Protected Attributes
std::unique_ptr< AddRemoveContactStateImpl >	impl_
Protected Attributes inherited from mc_control::fsm::State
mc_rtc::Configuration	add_contacts_config_
mc_rtc::Configuration	remove_contacts_config_
mc_rtc::Configuration	add_contacts_after_config_
mc_rtc::Configuration	remove_contacts_after_config_
mc_rtc::Configuration	add_collisions_config_
mc_rtc::Configuration	remove_collisions_config_
mc_rtc::Configuration	add_collisions_after_config_
mc_rtc::Configuration	remove_collisions_after_config_
mc_rtc::Configuration	constraints_config_
mc_rtc::Configuration	tasks_config_
mc_rtc::Configuration	remove_posture_task_
mc_rtc::Configuration	config_
std::vector< mc_solver::ConstraintSetPtr >	constraints_
std::vector< std::pair< mc_tasks::MetaTaskPtr, mc_rtc::Configuration > >	tasks_
std::vector< mc_tasks::PostureTaskPtr >	postures_

Additional Inherited Members
Protected Member Functions inherited from mc_control::fsm::State
void	output (const std::string &o)
virtual void	configure (const mc_rtc::Configuration &config)

Detailed Description

Implements a state that is able to remove or add a contact

General configuration options:

• type (req.): one of ["addContact", "removeContact", "compliance"]
• contact (req.): contact to be removed or added

Add contact options:

• forceThreshold (def: infinity): if the body attempting the contact has a force sensor attached, monitor this sensor normal force to stop the motion before geometric contact

Remove contact options:

• distance (def: 0.1): when the contact body has moved this distance away from the contact, the state is finished

Compliant add contact options:

• velocity (def: 1e-4): velocity threshold for the ComplianceTask

Other options depend on the type of task used to add/remove the contact. For the compliance task, the "body" entry is overwritten based on the contact value.

If you use a compliance task to remove a contact that has no force sensor attached the state will automatically fallback to using an AddContactTask.

This state also employs a CoM task to keep the robot balanced during the removal/adding operation. The task can be configured using a "com" entry, two values can be specified:

• weight (def: 100): the weight of the CoM task
• stiffness (def: 2): the stiffness of the CoM task

Constructor & Destructor Documentation

AddRemoveContactState()

mc_control::fsm::AddRemoveContactState::AddRemoveContactState

(

)

~AddRemoveContactState()

virtual mc_control::fsm::AddRemoveContactState::~AddRemoveContactState ( )

virtual

Member Function Documentation

run()

bool mc_control::fsm::AddRemoveContactState::run ( Controller &  ctl )

overridevirtual

Called every iteration until it returns true

Implements mc_control::fsm::State.

start()

void mc_control::fsm::AddRemoveContactState::start ( Controller &  ctl )

overridevirtual

Called before the state starts being run

This will be called only once with the state fully configured.

Implements mc_control::fsm::State.

teardown()

void mc_control::fsm::AddRemoveContactState::teardown ( Controller &  ctl )

overridevirtual

Called right before destruction

Implements mc_control::fsm::State.

Member Data Documentation

impl_

std::unique_ptr<AddRemoveContactStateImpl> mc_control::fsm::AddRemoveContactState::impl_

protected

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The documentation for this struct was generated from the following file:

• include/mc_control/fsm/states/AddRemoveContact.h