Simple state to control and stabilize the CoM of a biped-like robot using the LIPMStabilizer. More...

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

Inheritance diagram for mc_control::fsm::StabilizerStandingState:

Collaboration diagram for mc_control::fsm::StabilizerStandingState:

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 Member Functions
void	targetCoP (const Eigen::Vector3d &cop)
	Targets a given Cop. The CoM height will be automatically set at comHeight_ above this CoP. The default CoM height is that of the stabilizer's configuration, and can be overriden from configuration through "comHeight: 0.8" entry. More...

void	targetCoM (const Eigen::Vector3d &com)
	Freely target a CoM position. The corresponding CoP position will be computed as the projection of the CoM at the average height of both feet contacts. More...

double	copHeight () const
	CoP height from contacts. More...

Protected Member Functions inherited from mc_control::fsm::State
void	output (const std::string &o)

Protected Attributes
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_

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_

Detailed Description

Simple state to control and stabilize the CoM of a biped-like robot using the LIPMStabilizer.

This state allows to:

Move the CoM to a desired position using the LIPMStabilizer The reference trajectory is computed as a simple spring-damper system.

Typical uses:

Simple stabilized CoM motion
Stabilized manipulation can be easily achieved by putting this state in parallel to manipulation states

See also
mc_tasks::lipm_stabilizer::StabilizerTask

Member Function Documentation

◆ configure()

void mc_control::fsm::StabilizerStandingState::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.

◆ copHeight()

double mc_control::fsm::StabilizerStandingState::copHeight ( ) const

protected

CoP height from contacts.

double support: average of both contact heights
single support: contact height

◆ run()

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

overridevirtual

Called every iteration until it returns true

Implements mc_control::fsm::State.

◆ start()

void mc_control::fsm::StabilizerStandingState::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.

◆ targetCoM()

void mc_control::fsm::StabilizerStandingState::targetCoM ( const Eigen::Vector3d & com )

protected

Freely target a CoM position. The corresponding CoP position will be computed as the projection of the CoM at the average height of both feet contacts.

Note: Caution, this function does not check the feasibility of the provided CoM

Parameters

com	Desired CoM position

◆ targetCoP()

void mc_control::fsm::StabilizerStandingState::targetCoP ( const Eigen::Vector3d & cop )

protected

Targets a given Cop. The CoM height will be automatically set at comHeight_ above this CoP. The default CoM height is that of the stabilizer's configuration, and can be overriden from configuration through "comHeight: 0.8" entry.

Parameters

cop	Desired CoP

◆ teardown()

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

overridevirtual

Called right before destruction

Implements mc_control::fsm::State.

Member Data Documentation

◆ anchorFrameFunction_

std::string mc_control::fsm::StabilizerStandingState::anchorFrameFunction_ = ""

protected

◆ comHeight_

double mc_control::fsm::StabilizerStandingState::comHeight_ = 0

protected

Desired height of the CoM above the CoP target

◆ comTarget_

Eigen::Vector3d mc_control::fsm::StabilizerStandingState::comTarget_ = Eigen::Vector3d::Zero()

protected

World target for the CoM

◆ config_

mc_rtc::Configuration mc_control::fsm::StabilizerStandingState::config_

protected

Full state configuration

◆ copTarget_

Eigen::Vector3d mc_control::fsm::StabilizerStandingState::copTarget_ = Eigen::Vector3d::Zero()

protected

World target for the CoP

◆ D_

double mc_control::fsm::StabilizerStandingState::D_ = 0.

protected

CoM tracking damping

◆ dcmThreshold_

Eigen::Vector3d mc_control::fsm::StabilizerStandingState::dcmThreshold_ = Eigen::Vector3d{0.01, 0.01, 0.01}

protected

Completion criteria threshold

◆ hasCompletion_

bool mc_control::fsm::StabilizerStandingState::hasCompletion_ = false

protected

If the latest definition of the state configuration has an empty "completion" element, no completion rule will be used

◆ K_

double mc_control::fsm::StabilizerStandingState::K_ = 5

protected

LIPM Pendulum model CoM tracking stiffness (set-point)

◆ optionalGUI_

bool mc_control::fsm::StabilizerStandingState::optionalGUI_ = true

protected

Controls whether optional GUI elements are displayed

◆ ownsAnchorFrameCallback_

bool mc_control::fsm::StabilizerStandingState::ownsAnchorFrameCallback_

protected

Initial value:

=

false

◆ pendulum_

mc_planning::Pendulum mc_control::fsm::StabilizerStandingState::pendulum_

protected

◆ robot_

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

protected

◆ stabilizerTask_

std::shared_ptr<mc_tasks::lipm_stabilizer::StabilizerTask> mc_control::fsm::StabilizerStandingState::stabilizerTask_ = nullptr

protected

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

include/mc_control/fsm/states/StabilizerStandingState.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ configure()

◆ copHeight()

◆ run()

◆ start()

◆ targetCoM()

◆ targetCoP()

◆ teardown()

Member Data Documentation

◆ anchorFrameFunction_

◆ comHeight_

◆ comTarget_

◆ config_

◆ copTarget_

◆ D_

◆ dcmThreshold_

◆ hasCompletion_

◆ K_

◆ optionalGUI_

◆ ownsAnchorFrameCallback_

◆ pendulum_

◆ robot_

◆ stabilizerTask_