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/*
* Copyright (c) 2011-2022, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef EXAMPLES_ATLASSIMBICON_STATEMACHINE_HPP_
#define EXAMPLES_ATLASSIMBICON_STATEMACHINE_HPP_
#include <string>
#include <vector>
#include <Eigen/Dense>
#include <dart/dart.hpp>
class State;
/// \brief StateMachine for Atlas robot
class StateMachine
{
public:
/// \brief Constructor
explicit StateMachine(const std::string& _name);
/// \brief Destructor
virtual ~StateMachine();
//------------------------------- Setting ------------------------------------
/// \brief Set name
void setName(const std::string& _name);
/// \brief Get name
const std::string& getName() const;
/// \brief Add state
void addState(State* _state);
/// \brief Set initial state
void setInitialState(State* _state);
//------------------------------- Control ------------------------------------
/// \brief Initiate state. This is called when the contoller change the
/// current state machine to this.
void begin(double _currentTime);
/// \brief Compute control force and apply it to Atlas robot
void computeControlForce(double _dt);
/// \brief Finalize state. This is called when the state machine stransite
/// from this state to the next state.
void end(double _currentTime);
/// \brief Get current state
State* getCurrentState();
/// \brief Transite to the next state manually
void transiteToNextState(double _currentTime);
/// \brief Change state to _state
void transiteTo(State* _state, double _currentTime);
/// \brief Change state to a state whose names is _stateName
void transiteTo(std::string& _stateName, double _currentTime);
/// \brief Change state to a state whose index is _idx
void transiteTo(std::size_t _idx, double _currentTime);
protected:
/// \brief Name
std::string mName;
/// \brief States
std::vector<State*> mStates;
/// \brief Current state
State* mCurrentState;
/// \brief Started time
double mBeginTime;
/// \brief Stopped time
double mEndTime;
/// \brief Frame number
int mFrame;
/// \brief Elapsed time which is stopped time minus started time
double mElapsedTime;
private:
/// \brief Check if this state machine contains _state
bool _containState(const State* _state) const;
/// \brief Check if this state machine contains a state whose name is _name
bool _containState(const std::string& _name) const;
/// \brief Find a state whose name is _name
State* _findState(const std::string& _name) const;
};
#endif // EXAMPLES_ATLASSIMBICON_STATEMACHINE_HPP_
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