public void setupHighLevelStates(HighLevelHumanoidControllerFactory controllerFactory) { controllerFactory.useDefaultDoNothingControlState(); controllerFactory.useDefaultWalkingControlState(); controllerFactory.addRequestableTransition(DO_NOTHING_BEHAVIOR, WALKING); controllerFactory.addRequestableTransition(WALKING, DO_NOTHING_BEHAVIOR); }
public void setupHighLevelStates(HighLevelHumanoidControllerFactory controllerFactory, SideDependentList<String> feetForceSensorNames, HighLevelControllerName fallbackControllerState) { controllerFactory.useDefaultDoNothingControlState(); controllerFactory.useDefaultWalkingControlState(); controllerFactory.addRequestableTransition(DO_NOTHING_BEHAVIOR, WALKING); controllerFactory.addRequestableTransition(WALKING, DO_NOTHING_BEHAVIOR); controllerFactory.addControllerFailureTransition(DO_NOTHING_BEHAVIOR, fallbackControllerState); controllerFactory.addControllerFailureTransition(WALKING, fallbackControllerState); controllerFactory.setInitialState(HighLevelControllerName.WALKING); }
controllerFactory.addRequestableTransition(calibrationState, STAND_PREP_STATE); controllerFactory.addFinishedTransition(calibrationState, STAND_PREP_STATE); controllerFactory.addRequestableTransition(STAND_PREP_STATE, calibrationState); controllerFactory.addRequestableTransition(STAND_READY, STAND_TRANSITION_STATE); if (fallbackControllerState != STAND_READY) controllerFactory.addControllerFailureTransition(STAND_READY, fallbackControllerState); controllerFactory.addRequestableTransition(STAND_READY, calibrationState); controllerFactory.addRequestableTransition(STAND_READY, STAND_PREP_STATE); controllerFactory.addRequestableTransition(WALKING, EXIT_WALKING); controllerFactory.addFinishedTransition(EXIT_WALKING, STAND_PREP_STATE); controllerFactory.addControllerFailureTransition(WALKING, fallbackControllerState);
controllerFactory.useDefaultWalkingControlState(); controllerFactory.addRequestableTransition(DO_NOTHING_BEHAVIOR, WALKING); controllerFactory.addRequestableTransition(WALKING, DO_NOTHING_BEHAVIOR);
controllerFactory.useDefaultWalkingControlState(); controllerFactory.addRequestableTransition(DO_NOTHING_BEHAVIOR, WALKING); controllerFactory.addRequestableTransition(WALKING, DO_NOTHING_BEHAVIOR);
controllerFactory.useDefaultWalkingControlState(); controllerFactory.addRequestableTransition(DO_NOTHING_BEHAVIOR, WALKING); controllerFactory.addRequestableTransition(WALKING, DO_NOTHING_BEHAVIOR);
controllerFactory.useDefaultWalkingControlState(); controllerFactory.addRequestableTransition(DO_NOTHING_BEHAVIOR, WALKING); controllerFactory.addRequestableTransition(WALKING, DO_NOTHING_BEHAVIOR);