Single support phase while walking. More...

Inheritance diagram for lipm_walking::states::SingleSupport:

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	updateSwingFoot ()
	Update swing foot target. 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...

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

Detailed Description

Single support phase while walking.

Definition at line 46 of file SingleSupport.h.

Member Function Documentation

bool lipm_walking::states::SingleSupport::checkTransitions ( )

overridevirtual

Check transitions at beginning of control cycle.

Definition at line 99 of file SingleSupport.cpp.

void lipm_walking::states::SingleSupport::runState ( )

overridevirtual

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

Definition at line 109 of file SingleSupport.cpp.

void lipm_walking::states::SingleSupport::start ( )

overridevirtual

Start state.

Definition at line 33 of file SingleSupport.cpp.

void lipm_walking::states::SingleSupport::teardown ( )

overridevirtual

Teardown state.

Definition at line 83 of file SingleSupport.cpp.

void lipm_walking::states::SingleSupport::updatePreview ( )

Update horizontal MPC preview.

Definition at line 162 of file SingleSupport.cpp.

void lipm_walking::states::SingleSupport::updateSwingFoot ( )

Update swing foot target.

Definition at line 137 of file SingleSupport.cpp.