mc_control::fsm::PostureState Struct Reference

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

Inheritance diagram for mc_control::fsm::PostureState:

Collaboration diagram for mc_control::fsm::PostureState:

Public Member Functions
void	configure (const mc_rtc::Configuration &config) override
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
mc_rtc::Configuration	config_
std::string	robot_ = ""
mc_control::CompletionCriteria	crit_
bool	hasCompletion_ = false
mc_rtc::Configuration	completion_
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)

Detailed Description

Change the global posture

Member Function Documentation

configure()

void mc_control::fsm::PostureState::configure ( const mc_rtc::Configuration &  config )

overridevirtual

Called to configure the state.

This is called multiple times:

• once for every level of state inheritance
• once with the executor configuration, this is the FSM global executor, the Meta state executor, the Parallel state or any state that handle other states

The default implementation simply loads the provided configuration into the config_ protected members. You can override this behavior to implement a more complex loading logic.

You can access this configuration either via the config_ variable

Reimplemented from mc_control::fsm::State.

run()

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

overridevirtual

Called every iteration until it returns true

Implements mc_control::fsm::State.

start()

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

overridevirtual

Called right before destruction

Implements mc_control::fsm::State.

Member Data Documentation

completion_

mc_rtc::Configuration mc_control::fsm::PostureState::completion_

protected

config_

mc_rtc::Configuration mc_control::fsm::PostureState::config_

protected

crit_

mc_control::CompletionCriteria mc_control::fsm::PostureState::crit_

protected

hasCompletion_

bool mc_control::fsm::PostureState::hasCompletion_ = false

protected

robot_

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

protected

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

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