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>
|
| 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. More...
|
| |
| const msgs::ExecuteStepPlanFeedback & | getFeedbackState () const |
| | Returns current feedback information provided by the plugin. More...
|
| |
| int | getLastStepIndexSent () const |
| | Returns last step index which has been sent to walking engine. More...
|
| |
| int | getNextStepIndexNeeded () const |
| | Returns next step index needed by the walking engine. More...
|
| |
| StepControllerState | getState () const |
| | Get current state of execution. More...
|
| |
| 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. More...
|
| |
| virtual void | postProcess (const ros::TimerEvent &event) |
| | PostProcess Method is called after processing step, in order to sum up the current status and cleanups. More...
|
| |
| 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: More...
|
| |
| virtual void | process (const ros::TimerEvent &event) |
| | Overwrite to handle robot specific behavior. The default behavior behaves as followed: More...
|
| |
| virtual void | setStepPlanMsgPlugin (vigir_footstep_planning::StepPlanMsgPlugin::Ptr plugin) |
| | Sets the StepPlanMsgPlugin to be used. More...
|
| |
| | StepControllerPlugin () |
| |
| virtual void | stop () |
| | Will be called when (soft) stop is requested and resets plugin. More...
|
| |
| void | updateQueueFeedback () |
| | Updates feedback information with internal state data. More...
|
| |
| 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: More...
|
| |
| virtual | ~StepControllerPlugin () |
| |
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.
| vigir_step_control::StepControllerPlugin::StepControllerPlugin |
( |
| ) |
|
| vigir_step_control::StepControllerPlugin::~StepControllerPlugin |
( |
| ) |
|
|
virtual |
| 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 |
| int vigir_step_control::StepControllerPlugin::getNextStepIndexNeeded |
( |
| ) |
const |
| 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 |
( |
| ) |
|
|
protectedvirtual |
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 |
| void vigir_step_control::StepControllerPlugin::setLastStepIndexSent |
( |
int |
index | ) |
|
|
protected |
| void vigir_step_control::StepControllerPlugin::setNextStepIndexNeeded |
( |
int |
index | ) |
|
|
protected |
| 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 |
| void vigir_step_control::StepControllerPlugin::updateQueueFeedback |
( |
| ) |
|
| 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:
- In case of an empty step queue (robot is standing) the step plan has to begin with step index 0.
- 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. |
- Returns
- false if an error has occured
Definition at line 118 of file step_controller_plugin.cpp.
| msgs::ExecuteStepPlanFeedback vigir_step_control::StepControllerPlugin::feedback_state_ |
|
private |
| int vigir_step_control::StepControllerPlugin::last_step_index_sent_ |
|
private |
| int vigir_step_control::StepControllerPlugin::next_step_index_needed_ |
|
private |
| boost::shared_mutex vigir_step_control::StepControllerPlugin::plugin_mutex_ |
|
mutableprotected |
| vigir_footstep_planning::StepPlanMsgPlugin::Ptr vigir_step_control::StepControllerPlugin::step_plan_msg_plugin_ |
|
protected |
The documentation for this class was generated from the following files:
