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 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 WalkingSingleSupportState(RobotSide supportSide, WalkingMessageHandler walkingMessageHandler, HighLevelHumanoidControllerToolbox momentumBasedController, HighLevelControlManagerFactory managerFactory, WalkingControllerParameters walkingControllerParameters, WalkingFailureDetectionControlModule failureDetectionControlModule, YoVariableRegistry parentRegistry) { super(supportSide, WalkingStateEnum.getWalkingSingleSupportState(supportSide), walkingMessageHandler, momentumBasedController, managerFactory, parentRegistry); this.momentumBasedController = momentumBasedController; this.failureDetectionControlModule = failureDetectionControlModule; comHeightManager = managerFactory.getOrCreateCenterOfMassHeightManager(); pelvisOrientationManager = managerFactory.getOrCreatePelvisOrientationManager(); feetManager = managerFactory.getOrCreateFeetManager(); icpErrorThresholdToSpeedUpSwing.set(walkingControllerParameters.getICPErrorThresholdToSpeedUpSwing()); finishSingleSupportWhenICPPlannerIsDone.set(walkingControllerParameters.finishSingleSupportWhenICPPlannerIsDone()); minimizeAngularMomentumRateZDuringSwing.set(walkingControllerParameters.minimizeAngularMomentumRateZDuringSwing()); }
public FlamingoStanceState(RobotSide supportSide, WalkingMessageHandler walkingMessageHandler, HighLevelHumanoidControllerToolbox momentumBasedController, HighLevelControlManagerFactory managerFactory, WalkingFailureDetectionControlModule failureDetectionControlModule, YoVariableRegistry parentRegistry) { super(supportSide, WalkingStateEnum.getFlamingoSingleSupportState(supportSide), walkingMessageHandler, momentumBasedController, managerFactory, parentRegistry); bipedSupportPolygons = momentumBasedController.getBipedSupportPolygons(); this.failureDetectionControlModule = failureDetectionControlModule; comHeightManager = managerFactory.getOrCreateCenterOfMassHeightManager(); pelvisOrientationManager = managerFactory.getOrCreatePelvisOrientationManager(); feetManager = managerFactory.getOrCreateFeetManager(); String namePrefix = supportSide.getOppositeSide().getLowerCaseName(); loadFoot = new BooleanYoVariable(namePrefix + "LoadFoot", registry); loadFootStartTime = new DoubleYoVariable(namePrefix + "LoadFootStartTime", registry); loadFootDuration = new DoubleYoVariable(namePrefix + "LoadFootDuration", registry); loadFootTransferDuration = new DoubleYoVariable(namePrefix + "LoadFootTransferDuration", registry); loadFoot.set(false); loadFootDuration.set(1.2); loadFootTransferDuration.set(0.8); }
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); }
this.chestOrientationManager = managerFactory.getOrCreateChestOrientationManager(); this.manipulationControlModule = managerFactory.getOrCreateManipulationControlModule(); this.feetManager = managerFactory.getOrCreateFeetManager();