The StepControllerPlugin class provides the basic interface in order to handle robot-specific behavior. In order to integrate a new robot system, at least following methods have to be overloaded: initWalk: Initialize all variables and interfaces properly preProcess: Handles state maching by updating the feedback state properly executeStep: Sends step to low level walk algorithm using the provided interfaces by the robot infrastructure. More...

#include <step_controller_plugin.h>

Inheritance diagram for vigir_step_control::StepControllerPlugin:

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List of all members.

Public Types
typedef boost::shared_ptr < const StepControllerPlugin >	ConstPtr
typedef boost::shared_ptr < StepControllerPlugin >	Ptr
Public Member Functions
virtual bool	executeStep (const msgs::Step &step)=0
	This method will be called when the next step should be added to execution pipeline. The call of this function should be triggered by the process(...) method when next_step_index_needed_ has been changed.
const msgs::ExecuteStepPlanFeedback &	getFeedbackState () const
	Returns current feedback information provided by the plugin.
int	getLastStepIndexSent () const
	Returns last step index which has been sent to walking engine.
int	getNextStepIndexNeeded () const
	Returns next step index needed by the walking engine.
StepControllerState	getState () const
	Get current state of execution.
virtual void	initWalk ()=0
	This method is called when new step plan has been enqueued and previously the walk controller state was READY. This method must be override and set state to ACTIVE when everything has been set up successfully.
virtual void	postProcess (const ros::TimerEvent &event)
	PostProcess Method is called after processing step, in order to sum up the current status and cleanups.
virtual void	preProcess (const ros::TimerEvent &event)
	PreProcess Method is called before processing the walk controller, e.g. for precompute/update data or check walking engine status. For keeping the default behavior running, following variables has to be properly updated here:
virtual void	process (const ros::TimerEvent &event)
	Overwrite to handle robot specific behavior. The default behavior behaves as followed:
virtual void	setStepPlanMsgPlugin (vigir_footstep_planning::StepPlanMsgPlugin::Ptr plugin)
	Sets the StepPlanMsgPlugin to be used.
	StepControllerPlugin ()
virtual void	stop ()
	Will be called when (soft) stop is requested and resets plugin.
void	updateQueueFeedback ()
	Updates feedback information with internal state data.
virtual bool	updateStepPlan (const msgs::StepPlan &step_plan)
	Merges given step plan to the current step queue of steps. Hereby, two cases have to considered: 1. In case of an empty step queue (robot is standing) the step plan has to begin with step index 0. 2. In case of an non-empty step queue (robot is walking) the first step of the step plan has to be identical with the corresponding step (=same step index) in the step queue. Be aware that already performed steps have been popped from step queue and therefore are not exisiting anymore. The default implementation resets the plugin previously when in FINISHED or FAILED state.
virtual	~StepControllerPlugin ()
Protected Member Functions
virtual void	reset ()
	Resets the plugin (called during construction and by stop()). The default implementation raises the READY flag. Overwrite this method if another behavior is desired.
void	setFeedbackState (const msgs::ExecuteStepPlanFeedback &feedback)
void	setLastStepIndexSent (int index)
void	setNextStepIndexNeeded (int index)
void	setState (StepControllerState state)
Protected Attributes
boost::shared_mutex	plugin_mutex_
vigir_footstep_planning::StepPlanMsgPlugin::Ptr	step_plan_msg_plugin_
StepQueue::Ptr	step_queue_
Private Attributes
msgs::ExecuteStepPlanFeedback	feedback_state_
int	last_step_index_sent_
int	next_step_index_needed_
StepControllerState	state_

Detailed Description

The StepControllerPlugin class provides the basic interface in order to handle robot-specific behavior. In order to integrate a new robot system, at least following methods have to be overloaded: initWalk: Initialize all variables and interfaces properly preProcess: Handles state maching by updating the feedback state properly executeStep: Sends step to low level walk algorithm using the provided interfaces by the robot infrastructure.

Definition at line 68 of file step_controller_plugin.h.

Member Typedef Documentation

typedef boost::shared_ptr<const StepControllerPlugin> vigir_step_control::StepControllerPlugin::ConstPtr

Reimplemented in vigir_step_control::StepControllerTestPlugin.

Definition at line 74 of file step_controller_plugin.h.

typedef boost::shared_ptr<StepControllerPlugin> vigir_step_control::StepControllerPlugin::Ptr

Reimplemented in vigir_step_control::StepControllerTestPlugin.

Definition at line 73 of file step_controller_plugin.h.

Constructor & Destructor Documentation

vigir_step_control::StepControllerPlugin::StepControllerPlugin ( )

Definition at line 21 of file step_controller_plugin.cpp.

vigir_step_control::StepControllerPlugin::~StepControllerPlugin ( ) [virtual]

Definition at line 30 of file step_controller_plugin.cpp.

Member Function Documentation

virtual bool vigir_step_control::StepControllerPlugin::executeStep ( const msgs::Step & step ) [pure virtual]

This method will be called when the next step should be added to execution pipeline. The call of this function should be triggered by the process(...) method when next_step_index_needed_ has been changed.

Parameters:

step	Step to be executed now

Implemented in vigir_step_control::StepControllerTestPlugin.

const msgs::ExecuteStepPlanFeedback & vigir_step_control::StepControllerPlugin::getFeedbackState ( ) const

Returns current feedback information provided by the plugin.

Returns:: current feedback

Definition at line 62 of file step_controller_plugin.cpp.

int vigir_step_control::StepControllerPlugin::getLastStepIndexSent ( ) const

Returns last step index which has been sent to walking engine.

Returns:: step index

Definition at line 56 of file step_controller_plugin.cpp.

int vigir_step_control::StepControllerPlugin::getNextStepIndexNeeded ( ) const

Returns next step index needed by the walking engine.

Returns:: step index

Definition at line 50 of file step_controller_plugin.cpp.

StepControllerState vigir_step_control::StepControllerPlugin::getState ( ) const

Get current state of execution.

Returns:: StepControllerState

Definition at line 44 of file step_controller_plugin.cpp.

virtual void vigir_step_control::StepControllerPlugin::initWalk ( ) [pure virtual]

This method is called when new step plan has been enqueued and previously the walk controller state was READY. This method must be override and set state to ACTIVE when everything has been set up successfully.

Implemented in vigir_step_control::StepControllerTestPlugin.

void vigir_step_control::StepControllerPlugin::postProcess ( const ros::TimerEvent & event ) [virtual]

PostProcess Method is called after processing step, in order to sum up the current status and cleanups.

Definition at line 214 of file step_controller_plugin.cpp.

void vigir_step_control::StepControllerPlugin::preProcess ( const ros::TimerEvent & event ) [virtual]

PreProcess Method is called before processing the walk controller, e.g. for precompute/update data or check walking engine status. For keeping the default behavior running, following variables has to be properly updated here:

feedback.first_changeable_step_index (or update it in postProcess(...) or executeStep(...) alternatively)
feedback.last_performed_step_index (or update it in postProcess(...) or executeStep(...) alternatively)
next_step_index_needed -- Note: Don't forget to update header data of the feedback, when updating one of the mentioned values!
setState(FINISEHD) when execution of all steps were successfully completed
setState(FAILED) when an error has occured

Reimplemented in vigir_step_control::StepControllerTestPlugin.

Definition at line 152 of file step_controller_plugin.cpp.

void vigir_step_control::StepControllerPlugin::process ( const ros::TimerEvent & event ) [virtual]

Overwrite to handle robot specific behavior. The default behavior behaves as followed:

For each step s in queue with index in (last_step_index_sent_; next_step_index_needed_] executeStep(s) will be called. Hereby, last_step_index_sent_ will be automatically updated.
Each step in [0; feedback.last_performed_step_index] will be removed from step queue

Definition at line 170 of file step_controller_plugin.cpp.

void vigir_step_control::StepControllerPlugin::reset ( ) [protected, virtual]

Resets the plugin (called during construction and by stop()). The default implementation raises the READY flag. Overwrite this method if another behavior is desired.

Definition at line 68 of file step_controller_plugin.cpp.

void vigir_step_control::StepControllerPlugin::setFeedbackState ( const msgs::ExecuteStepPlanFeedback & feedback ) [protected]

Definition at line 104 of file step_controller_plugin.cpp.

void vigir_step_control::StepControllerPlugin::setLastStepIndexSent ( int index ) [protected]

Definition at line 98 of file step_controller_plugin.cpp.

void vigir_step_control::StepControllerPlugin::setNextStepIndexNeeded ( int index ) [protected]

Definition at line 92 of file step_controller_plugin.cpp.

void vigir_step_control::StepControllerPlugin::setState ( StepControllerState state ) [protected]

Definition at line 84 of file step_controller_plugin.cpp.

void vigir_step_control::StepControllerPlugin::setStepPlanMsgPlugin ( vigir_footstep_planning::StepPlanMsgPlugin::Ptr plugin ) [virtual]

Sets the StepPlanMsgPlugin to be used.

Parameters:

plugin Plugin of type StepPlanMsgPlugin

Definition at line 34 of file step_controller_plugin.cpp.

void vigir_step_control::StepControllerPlugin::stop ( ) [virtual]

Will be called when (soft) stop is requested and resets plugin.

Definition at line 229 of file step_controller_plugin.cpp.

void vigir_step_control::StepControllerPlugin::updateQueueFeedback ( )

Updates feedback information with internal state data.

Definition at line 110 of file step_controller_plugin.cpp.

bool vigir_step_control::StepControllerPlugin::updateStepPlan ( const msgs::StepPlan & step_plan ) [virtual]

Merges given step plan to the current step queue of steps. Hereby, two cases have to considered: 1. In case of an empty step queue (robot is standing) the step plan has to begin with step index 0. 2. In case of an non-empty step queue (robot is walking) the first step of the step plan has to be identical with the corresponding step (=same step index) in the step queue. Be aware that already performed steps have been popped from step queue and therefore are not exisiting anymore. The default implementation resets the plugin previously when in FINISHED or FAILED state.

Parameters:

step_plan Step plan to be merged into step queue.