Standing.h

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/*
 * Copyright (c) 2018-2019, CNRS-UM LIRMM
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#pragma once

#include <mc_control/fsm/Controller.h>
#include <mc_control/fsm/State.h>

#include <lipm_walking/Controller.h>
#include <lipm_walking/State.h>

namespace lipm_walking
{

namespace states
{

struct Standing : State
{
  void start() override;

  void teardown() override;

  void checkPlanUpdates();

  bool checkTransitions() override;

  void runState() override;

  void distributeFootCoPs();

  void updateTarget(double leftFootRatio);

  void makeFootContact(std::shared_ptr<mc_tasks::force::CoPTask> footTask, const Contact & contact);

  void makeLeftFootContact();

  void makeRightFootContact();

  bool releaseFootContact(std::shared_ptr<mc_tasks::force::CoPTask> footTask);

  void releaseLeftFootContact();

  void releaseRightFootContact();

  void startWalking();

protected:
  void updatePlan(const std::string & name);

private:
  Contact leftFootContact_; 
  Contact rightFootContact_; 
  Eigen::Vector3d copTarget_; 
  bool isMakingFootContact_; 
  bool planChanged_; 
  bool startWalking_; 
  double freeFootGain_; 
  double leftFootRatio_; 
  double releaseHeight_; 
  unsigned lastInterpolatorIter_; 
};

} // namespace states

} // namespace lipm_walking