humoto::walking::StanceFiniteStateMachine Class Reference

Detailed Description

Finite state machine for walking. [initialize_contact_walk_fsm.m].

Supports online states sequence generation

Definition at line 232 of file stance_finite_state_machine.h.

#include <stance_finite_state_machine.h>

Public Member Functions
	StanceFiniteStateMachine ()
	StanceFiniteStateMachine (const StanceFSMParameters &sfsm_params)
	Constructor. More...
Stance	getNextStance () const
	Preview next walk state of the FSM. More...
void	log (humoto::Logger &, const LogEntryName &, const std::string &) const
	Log. More...
std::vector< Stance >	previewStances (const std::size_t preview_duration_ms) const
	Preview sequence of Stances of the FSM. More...
void	setParameters (const StanceFSMParameters &sfsm_params)
void	shiftStance ()
	Shift state of the model. More...
void	shiftTime (const std::size_t shift_time_ms)
	Shift time. More...

Public Attributes
Stance	current_stance_
std::size_t	current_time_ms_
bool	is_tds_started_
StanceFSMParameters	sfsm_params_
std::size_t	ss_states_to_termination_

Private Member Functions
void	finalize ()

Constructor & Destructor Documentation

StanceFiniteStateMachine() [1/2]

humoto::walking::StanceFiniteStateMachine::StanceFiniteStateMachine ( )

inline

Definition at line 292 of file stance_finite_state_machine.h.

StanceFiniteStateMachine() [2/2]

humoto::walking::StanceFiniteStateMachine::StanceFiniteStateMachine ( const StanceFSMParameters &  sfsm_params )

explicit

Constructor.

Parameters

[in]

sfsm_params

Definition at line 396 of file stance_finite_state_machine.h.

Member Function Documentation

finalize()

void humoto::walking::StanceFiniteStateMachine::finalize ( )

inlineprivate

Definition at line 235 of file stance_finite_state_machine.h.

getNextStance()

Stance humoto::walking::StanceFiniteStateMachine::getNextStance

(

)

const

Preview next walk state of the FSM.

Definition at line 383 of file stance_finite_state_machine.h.

log()

void humoto::walking::StanceFiniteStateMachine::log	(	humoto::Logger &	logger,
		const LogEntryName &	parent = LogEntryName(),
		const std::string &	name = "stance_fsm"
	)		const

Log.

Parameters

[in,out]	logger	logger
[in]	parent	parent
[in]	name	name

Definition at line 521 of file stance_finite_state_machine.h.

previewStances()

std::vector< Stance > humoto::walking::StanceFiniteStateMachine::previewStances

(

const std::size_t

preview_duration_ms

)

const

Preview sequence of Stances of the FSM.

Parameters

[in]

preview_duration_ms

Returns

Definition at line 316 of file stance_finite_state_machine.h.

setParameters()

void humoto::walking::StanceFiniteStateMachine::setParameters ( const StanceFSMParameters &  sfsm_params )

inline

Definition at line 299 of file stance_finite_state_machine.h.

shiftStance()

void humoto::walking::StanceFiniteStateMachine::shiftStance

(

)

Shift state of the model.

Definition at line 431 of file stance_finite_state_machine.h.

shiftTime()

void humoto::walking::StanceFiniteStateMachine::shiftTime

(

const std::size_t

shift_time_ms

)

Shift time.

Parameters

[in]

shift_time_ms

Definition at line 408 of file stance_finite_state_machine.h.

Member Data Documentation

current_stance_

Stance humoto::walking::StanceFiniteStateMachine::current_stance_

Definition at line 282 of file stance_finite_state_machine.h.

current_time_ms_

std::size_t humoto::walking::StanceFiniteStateMachine::current_time_ms_

Definition at line 281 of file stance_finite_state_machine.h.

is_tds_started_

bool humoto::walking::StanceFiniteStateMachine::is_tds_started_

Definition at line 279 of file stance_finite_state_machine.h.

sfsm_params_

StanceFSMParameters humoto::walking::StanceFiniteStateMachine::sfsm_params_

Definition at line 283 of file stance_finite_state_machine.h.

ss_states_to_termination_

std::size_t humoto::walking::StanceFiniteStateMachine::ss_states_to_termination_

Definition at line 280 of file stance_finite_state_machine.h.

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The documentation for this class was generated from the following file:

• core/include/walking/stance_finite_state_machine.h