mc_control::fsm::HalfSittingState Struct Reference

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

Inheritance diagram for mc_control::fsm::HalfSittingState:

Collaboration diagram for mc_control::fsm::HalfSittingState:

Public Member Functions
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::string	robot_ = ""
double	eval_threshold_ = 0.01
double	default_stiffness_ = 1
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 brings the robot posture to halfsitting stance

Configuration options:

• stiffness Stiffness of the posture task

• completion Threshold on posture eval after which the state is considered completed

  After state completion the PostureTask stiffness will be restored to its original value

Member Function Documentation

run()

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

overridevirtual

Called every iteration until it returns true

Implements mc_control::fsm::State.

start()

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

inlineoverridevirtual

Called right before destruction

Implements mc_control::fsm::State.

Member Data Documentation

default_stiffness_

double mc_control::fsm::HalfSittingState::default_stiffness_ = 1

protected

eval_threshold_

double mc_control::fsm::HalfSittingState::eval_threshold_ = 0.01

protected

robot_

std::string mc_control::fsm::HalfSittingState::robot_ = ""

protected

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

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