public TransferState(RobotSide transferToSide, WalkingStateEnum transferStateEnum, WalkingMessageHandler walkingMessageHandler, HighLevelHumanoidControllerToolbox momentumBasedController, HighLevelControlManagerFactory managerFactory, WalkingFailureDetectionControlModule failureDetectionControlModule, YoVariableRegistry parentRegistry) { super(transferStateEnum, parentRegistry); this.transferToSide = transferToSide; this.walkingMessageHandler = walkingMessageHandler; this.failureDetectionControlModule = failureDetectionControlModule; this.momentumBasedController = momentumBasedController; comHeightManager = managerFactory.getOrCreateCenterOfMassHeightManager(); balanceManager = managerFactory.getOrCreateBalanceManager(); pelvisOrientationManager = managerFactory.getOrCreatePelvisOrientationManager(); feetManager = managerFactory.getOrCreateFeetManager(); }
public SingleSupportState(RobotSide supportSide, WalkingStateEnum singleSupportStateEnum, WalkingMessageHandler walkingMessageHandler, HighLevelHumanoidControllerToolbox momentumBasedController, HighLevelControlManagerFactory managerFactory, YoVariableRegistry parentRegistry) { super(singleSupportStateEnum, parentRegistry); this.supportSide = supportSide; swingSide = supportSide.getOppositeSide(); minimumSwingFraction.set(0.5); this.walkingMessageHandler = walkingMessageHandler; footSwitches = momentumBasedController.getFootSwitches(); fullRobotModel = momentumBasedController.getFullRobotModel(); balanceManager = managerFactory.getOrCreateBalanceManager(); }
public TransferToStandingState(WalkingMessageHandler walkingMessageHandler, HighLevelHumanoidControllerToolbox momentumBasedController, HighLevelControlManagerFactory managerFactory, WalkingFailureDetectionControlModule failureDetectionControlModule, YoVariableRegistry parentRegistry) { super(WalkingStateEnum.TO_STANDING, parentRegistry); maxICPErrorToSwitchToStanding.set(0.025); this.walkingMessageHandler = walkingMessageHandler; this.momentumBasedController = momentumBasedController; this.failureDetectionControlModule = failureDetectionControlModule; comHeightManager = managerFactory.getOrCreateCenterOfMassHeightManager(); balanceManager = managerFactory.getOrCreateBalanceManager(); pelvisOrientationManager = managerFactory.getOrCreatePelvisOrientationManager(); feetManager = managerFactory.getOrCreateFeetManager(); doFootExplorationInTransferToStanding.set(false); }
public StandingState(CommandInputManager commandInputManager, WalkingMessageHandler walkingMessageHandler, HighLevelHumanoidControllerToolbox momentumBasedController, HighLevelControlManagerFactory managerFactory, WalkingFailureDetectionControlModule failureDetectionControlModule, WalkingControllerParameters walkingControllerParameters, YoVariableRegistry parentRegistry) { super(WalkingStateEnum.STANDING, parentRegistry); this.commandInputManager = commandInputManager; this.walkingMessageHandler = walkingMessageHandler; this.momentumBasedController = momentumBasedController; this.failureDetectionControlModule = failureDetectionControlModule; comHeightManager = managerFactory.getOrCreateCenterOfMassHeightManager(); balanceManager = managerFactory.getOrCreateBalanceManager(); manipulationControlModule = managerFactory.getOrCreateManipulationControlModule(); pelvisOrientationManager = managerFactory.getOrCreatePelvisOrientationManager(); doPrepareManipulationForLocomotion.set(walkingControllerParameters.doPrepareManipulationForLocomotion()); doPreparePelvisForLocomotion.set(walkingControllerParameters.doPreparePelvisForLocomotion()); }
public WalkingCommandConsumer(CommandInputManager commandInputManager, StatusMessageOutputManager statusMessageOutputManager, HighLevelHumanoidControllerToolbox momentumBasedController, WalkingMessageHandler walkingMessageHandler, HighLevelControlManagerFactory managerFactory, WalkingControllerParameters walkingControllerParameters, YoVariableRegistry parentRegistry) { this.walkingMessageHandler = walkingMessageHandler; yoTime = momentumBasedController.getYoTime(); this.commandInputManager = commandInputManager; this.statusMessageOutputManager = statusMessageOutputManager; pelvisOrientationManager = managerFactory.getOrCreatePelvisOrientationManager(); chestOrientationManager = managerFactory.getOrCreateChestOrientationManager(); headOrientationManager = managerFactory.getOrCreatedHeadOrientationManager(); manipulationControlModule = managerFactory.getOrCreateManipulationControlModule(); feetManager = managerFactory.getOrCreateFeetManager(); balanceManager = managerFactory.getOrCreateBalanceManager(); comHeightManager = managerFactory.getOrCreateCenterOfMassHeightManager(); isAutomaticManipulationAbortEnabled.set(walkingControllerParameters.allowAutomaticManipulationAbort()); icpErrorThresholdToAbortManipulation.set(0.04); minimumDurationBetweenTwoManipulationAborts.set(5.0); manipulationIgnoreInputsDurationAfterAbort.set(2.0); timeOfLastManipulationAbortRequest.set(Double.NEGATIVE_INFINITY); parentRegistry.addChild(registry); }
balanceManager = managerFactory.getOrCreateBalanceManager(); comHeightManager = managerFactory.getOrCreateCenterOfMassHeightManager();