lipm_walking::states::DoubleSupport Struct Reference

Double support phase while walking. More...

#include <states/DoubleSupport.h>

Inheritance diagram for lipm_walking::states::DoubleSupport:
lipm_walking::State

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...
 
Controllercontroller ()
 Get controller. More...
 
std::shared_ptr< mc_rtc::gui::StateBuilder > gui ()
 Get GUI handle. More...
 
mc_rtc::Logger & logger ()
 Get logger. More...
 
Pendulumpendulum ()
 Get pendulum reference. More...
 
FootstepPlanplan ()
 Get footstep plan. More...
 
bool run (mc_control::fsm::Controller &) override
 Main function. More...
 
Stabilizerstabilizer ()
 Get stabilizer. More...
 
void start (mc_control::fsm::Controller &controller) override
 Start function. More...
 
void teardown (mc_control::fsm::Controller &) override
 Teardown function. More...
 

Additional Inherited Members

- Protected Attributes inherited from lipm_walking::State
Controllercontroller_ = nullptr
 

Detailed Description

Double support phase while walking.

Definition at line 45 of file DoubleSupport.h.

Member Function Documentation

bool lipm_walking::states::DoubleSupport::checkTransitions ( )
overridevirtual

Check transitions at beginning of control cycle.

Implements lipm_walking::State.

Definition at line 141 of file DoubleSupport.cpp.

void lipm_walking::states::DoubleSupport::runState ( )
overridevirtual

Main state function, called if no transition at this cycle.

Implements lipm_walking::State.

Definition at line 117 of file DoubleSupport.cpp.

void lipm_walking::states::DoubleSupport::start ( )
overridevirtual

Start state.

Implements lipm_walking::State.

Definition at line 33 of file DoubleSupport.cpp.

void lipm_walking::states::DoubleSupport::teardown ( )
overridevirtual

Teardown state.

Implements lipm_walking::State.

Definition at line 103 of file DoubleSupport.cpp.

void lipm_walking::states::DoubleSupport::updatePreview ( )

Update horizontal MPC preview.

Definition at line 161 of file DoubleSupport.cpp.