Controller.hpp

/*
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#ifndef EXAMPLES_ATLASSIMBICON_CONTROLLER_HPP_
#define EXAMPLES_ATLASSIMBICON_CONTROLLER_HPP_

#include <vector>

#include <Eigen/Dense>

#include <dart/dart.hpp>

class StateMachine;

class Controller
{
public:
  Controller(
      dart::dynamics::SkeletonPtr _atlasRobot,
      dart::dynamics::ConstraintSolver* _collisionSolver);

  virtual ~Controller();

  virtual void update();

  dart::dynamics::SkeletonPtr getAtlasRobot();

  StateMachine* getCurrentState();

  void changeStateMachine(StateMachine* _stateMachine, double _currentTime);

  void changeStateMachine(const std::string& _name, double _currentTime);

  void changeStateMachine(std::size_t _idx, double _currentTime);

  bool isAllowingControl() const;

  void keyboard(unsigned char _key, int _x, int _y, double _currentTime);

  void printDebugInfo() const;

  void harnessPelvis();

  void unharnessPelvis();

  void harnessLeftFoot();

  void unharnessLeftFoot();

  void harnessRightFoot();

  void unharnessRightFoot();

  void resetRobot();

  void setVerbosity(bool verbosity);

protected:
  dart::dynamics::SkeletonPtr mAtlasRobot;

  dart::dynamics::ConstraintSolver* mConstratinSolver;

  std::vector<StateMachine*> mStateMachines;

  StateMachine* mCurrentStateMachine;

  bool mPelvisHarnessOn;

  bool mLeftFootHarnessOn;

  bool mRightFootHarnessOn;

  std::size_t mCoronalLeftHip;

  std::size_t mCoronalRightHip;

  std::size_t mSagitalLeftHip;

  std::size_t mSagitalRightHip;

  double mMinPelvisHeight;

  double mMaxPelvisHeight;

private:
  bool _containStateMachine(const StateMachine* _stateMachine) const;

  bool _containStateMachine(const std::string& _name) const;

  StateMachine* _findStateMachine(const std::string& _name) const;

  void _buildStateMachines();

  StateMachine* _createStandingStateMachine();

  StateMachine* _createWalkingInPlaceStateMachine();

  StateMachine* _createWalkingStateMachine();

  StateMachine* _createRunningStateMachine();

  void _setJointDamping();

  dart::dynamics::BodyNode* _getLeftFoot() const;

  dart::dynamics::BodyNode* _getRightFoot() const;

  dart::dynamics::WeldJointConstraintPtr mWeldJointConstraintPelvis;

  dart::dynamics::WeldJointConstraintPtr mWeldJointConstraintLeftFoot;

  dart::dynamics::WeldJointConstraintPtr mWeldJointConstraintRightFoot;

  dart::dynamics::Skeleton::Configuration mInitialState;

  bool mVerbosity;
};

#endif // EXAMPLES_ATLASSIMBICON_CONTROLLER_HPP_