Enable stabilizer and keep CoM at a reference position. More...

#include <states/Standing.h>

Inheritance diagram for lipm_walking::states::Standing:

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

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

void	checkPlanUpdates ()
	Check for footstep plan updates. 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	distributeFootCoPs ()
	Distribute spatial ZMP into foot CoPs in double support. More...

void	updateTarget (double leftFootRatio)
	Update target CoM and CoP. More...

void	makeFootContact (std::shared_ptr< mc_tasks::force::CoPTask > footTask, const Contact &contact)
	Make foot contact. More...

void	makeLeftFootContact ()
	Make left foot contact. More...

void	makeRightFootContact ()
	Make right foot contact. More...

bool	releaseFootContact (std::shared_ptr< mc_tasks::force::CoPTask > footTask)
	Release foot contact. More...

void	releaseLeftFootContact ()
	Release left foot contact. More...

void	releaseRightFootContact ()
	Release right foot contact. More...

void	startWalking ()
	Enable startWalking_ boolean and update 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...

Protected Member Functions
void	updatePlan (const std::string &name)
	Change footstep plan. More...

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

Detailed Description

Enable stabilizer and keep CoM at a reference position.

Applies a simple CoM set-point task:

\[ \ddot{c} = K (c^d - c) - B \dot{c} \]

with critical damping \(B = 2 \sqrt{K}\).

Definition at line 53 of file Standing.h.

Member Function Documentation

void lipm_walking::states::Standing::checkPlanUpdates ( )

Check for footstep plan updates.

Definition at line 205 of file Standing.cpp.

bool lipm_walking::states::Standing::checkTransitions ( )

overridevirtual

Check transitions at beginning of control cycle.

Implements lipm_walking::State.

Definition at line 304 of file Standing.cpp.

void lipm_walking::states::Standing::distributeFootCoPs ( )

Distribute spatial ZMP into foot CoPs in double support.

void lipm_walking::states::Standing::makeFootContact	(	std::shared_ptr< mc_tasks::force::CoPTask >	footTask,
		const Contact &	contact
	)

Make foot contact.

Parameters

footTask	Stabilizer task corresponding to the foot to release.
contact	Contact target.

Definition at line 241 of file Standing.cpp.

void lipm_walking::states::Standing::makeLeftFootContact ( )

Make left foot contact.

Definition at line 256 of file Standing.cpp.

void lipm_walking::states::Standing::makeRightFootContact ( )

Make right foot contact.

Definition at line 261 of file Standing.cpp.

bool lipm_walking::states::Standing::releaseFootContact ( std::shared_ptr< mc_tasks::force::CoPTask > footTask )

Release foot contact.

Parameters

footTask Stabilizer task corresponding to the foot to release.

Returns: True if the contact was released, false if not.

Definition at line 266 of file Standing.cpp.

void lipm_walking::states::Standing::releaseLeftFootContact ( )

Release left foot contact.

Definition at line 288 of file Standing.cpp.

void lipm_walking::states::Standing::releaseRightFootContact ( )

Release right foot contact.

Definition at line 296 of file Standing.cpp.

void lipm_walking::states::Standing::runState ( )

overridevirtual

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

Implements lipm_walking::State.

Definition at line 156 of file Standing.cpp.

void lipm_walking::states::Standing::start ( )

overridevirtual

Start state.

Implements lipm_walking::State.

Definition at line 41 of file Standing.cpp.

void lipm_walking::states::Standing::startWalking ( )

Enable startWalking_ boolean and update GUI.

Definition at line 329 of file Standing.cpp.

void lipm_walking::states::Standing::teardown ( )

overridevirtual

Teardown state.

Implements lipm_walking::State.

Definition at line 131 of file Standing.cpp.

void lipm_walking::states::Standing::updatePlan ( const std::string & name )

protected

Change footstep plan.

Parameters

name	New plan name.

Definition at line 342 of file Standing.cpp.

void lipm_walking::states::Standing::updateTarget ( double leftFootRatio )

Update target CoM and CoP.

Parameters

leftFootRatio Left foot weight index between 0 and 1.

Definition at line 226 of file Standing.cpp.

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation