Double support phase while walking. More...

Inheritance diagram for lipm_walking::states::DoubleSupport:

Public Member Functions
void	start () override
	Start state. More...

void	teardown () override
	Teardown state. More...

bool	checkTransitions () override
	Check transitions at beginning of control cycle. More...

void	runState () override
	Main state function, called if no transition at this cycle. More...

void	updatePreview ()
	Update horizontal MPC preview. More...

Public Member Functions inherited from lipm_walking::State
EIGEN_MAKE_ALIGNED_OPERATOR_NEW void	configure (const mc_rtc::Configuration &) override
	No configuration by default. More...

Controller &	controller ()
	Get controller. More...

std::shared_ptr< mc_rtc::gui::StateBuilder >	gui ()
	Get GUI handle. More...

mc_rtc::Logger &	logger ()
	Get logger. More...

Pendulum &	pendulum ()
	Get pendulum reference. More...

FootstepPlan &	plan ()
	Get footstep plan. More...

bool	run (mc_control::fsm::Controller &) override
	Main function. More...

Stabilizer &	stabilizer ()
	Get stabilizer. More...

void	start (mc_control::fsm::Controller &controller) override
	Start function. More...

void	teardown (mc_control::fsm::Controller &) override
	Teardown function. More...