State.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 <lipm_walking/Controller.h>

namespace lipm_walking
{

struct State : mc_control::fsm::State
{
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  void configure(const mc_rtc::Configuration &) override {}

  Controller & controller()
  {
    return *controller_;
  }

  std::shared_ptr<mc_rtc::gui::StateBuilder> gui()
  {
    return controller_->gui();
  }

  mc_rtc::Logger & logger()
  {
    return controller_->logger();
  }

  Pendulum & pendulum()
  {
    return controller_->pendulum();
  }

  FootstepPlan & plan()
  {
    return controller_->plan;
  }

  bool run(mc_control::fsm::Controller &) override
  {
    if(checkTransitions())
    {
      return true;
    }
    runState();
    return false;
  }

  Stabilizer & stabilizer()
  {
    return controller_->stabilizer();
  }

  void start(mc_control::fsm::Controller & controller) override
  {
    controller_ = &static_cast<Controller &>(controller);
    start();
  }

  void teardown(mc_control::fsm::Controller &) override
  {
    teardown();
  }

  virtual bool checkTransitions() = 0;
  virtual void runState() = 0;
  virtual void start() = 0;
  virtual void teardown() = 0;

protected:
  Controller * controller_ = nullptr;
};

} // namespace lipm_walking