#include <StateMachine.hpp>

Collaboration diagram for StateMachine:

Public Member Functions
	StateMachine (const std::string &_name)
	Constructor.

virtual	~StateMachine ()
	Destructor.

void	setName (const std::string &_name)
	Set name.

const std::string &	getName () const
	Get name.

void	addState (State *_state)
	Add state.

void	setInitialState (State *_state)
	Set initial state.

void	begin (double _currentTime)
	Initiate state. More...

void	computeControlForce (double _dt)
	Compute control force and apply it to Atlas robot.

void	end (double _currentTime)
	Finalize state. More...

State *	getCurrentState ()
	Get current state.

void	transiteToNextState (double _currentTime)
	Transite to the next state manually.

void	transiteTo (State *_state, double _currentTime)
	Change state to _state.

void	transiteTo (std::string &_stateName, double _currentTime)
	Change state to a state whose names is _stateName.

void	transiteTo (std::size_t _idx, double _currentTime)
	Change state to a state whose index is _idx.

void	setVerbosity (bool verbosity)
	Set the verbosity.

	StateMachine (const std::string &_name)
	Constructor.

virtual	~StateMachine ()
	Destructor.

void	setName (const std::string &_name)
	Set name.

const std::string &	getName () const
	Get name.

void	addState (State *_state)
	Add state.

void	setInitialState (State *_state)
	Set initial state.

void	begin (double _currentTime)
	Initiate state. More...

void	computeControlForce (double _dt)
	Compute control force and apply it to Atlas robot.

void	end (double _currentTime)
	Finalize state. More...

State *	getCurrentState ()
	Get current state.

void	transiteToNextState (double _currentTime)
	Transite to the next state manually.

void	transiteTo (State *_state, double _currentTime)
	Change state to _state.

void	transiteTo (std::string &_stateName, double _currentTime)
	Change state to a state whose names is _stateName.

void	transiteTo (std::size_t _idx, double _currentTime)
	Change state to a state whose index is _idx.

Protected Attributes
std::string	mName
	Name.

std::vector< State * >	mStates
	States.

State *	mCurrentState
	Current state.

double	mBeginTime
	Started time.

double	mEndTime
	Stopped time.

int	mFrame
	Frame number.

double	mElapsedTime
	Elapsed time which is stopped time minus started time.

Detailed Description

StateMachine for Atlas robot.

Member Function Documentation

◆ begin() [1/2]

void StateMachine::begin ( double _currentTime )

Initiate state.

This is called when the contoller change the current state machine to this.

◆ begin() [2/2]

void StateMachine::begin ( double _currentTime )

Initiate state.

This is called when the contoller change the current state machine to this.

◆ end() [1/2]

void StateMachine::end ( double _currentTime )

Finalize state.

This is called when the state machine stransite from this state to the next state.

◆ end() [2/2]