Hold posture and check contacts. More...

Inheritance diagram for lipm_walking::states::Initial:

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	showStartStandingButton ()
	Add "Start standing" transition button to GUI. More...

void	hideStartStandingButton ()
	Remove "Start standing" transition button from GUI. 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...

Additional Inherited Members
Protected Attributes inherited from lipm_walking::State
Controller *	controller_ = nullptr

Detailed Description

Hold posture and check contacts.

Definition at line 48 of file Initial.h.

Member Function Documentation

bool lipm_walking::states::Initial::checkTransitions ( )

overridevirtual

Check transitions at beginning of control cycle.

Definition at line 84 of file Initial.cpp.

void lipm_walking::states::Initial::hideStartStandingButton ( )

Remove "Start standing" transition button from GUI.

Definition at line 104 of file Initial.cpp.

void lipm_walking::states::Initial::runState ( )

overridevirtual

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

Definition at line 64 of file Initial.cpp.

void lipm_walking::states::Initial::showStartStandingButton ( )

Add "Start standing" transition button to GUI.

Definition at line 94 of file Initial.cpp.

void lipm_walking::states::Initial::start ( )

overridevirtual

Start state.

Definition at line 33 of file Initial.cpp.

void lipm_walking::states::Initial::teardown ( )

overridevirtual

Teardown state.

Definition at line 54 of file Initial.cpp.