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.addCustomStateTransition(controllerTransitionFactories.get(i)); controllerFactory.setInitialState(HighLevelControllerName.WALKING);
controllerFactory.setInitialState(highLevelControllerParameters.getDefaultInitialControllerState()); controllerFactory.useDefaultStandPrepControlState(); controllerFactory.useDefaultStandReadyControlState();
controllerFactory.addControllerFailureTransition(DO_NOTHING_BEHAVIOR, fallbackControllerState); controllerFactory.addControllerFailureTransition(WALKING, fallbackControllerState); controllerFactory.setInitialState(HighLevelControllerName.DO_NOTHING_BEHAVIOR);
controllerFactory.addControllerFailureTransition(DO_NOTHING_BEHAVIOR, fallbackControllerState); controllerFactory.addControllerFailureTransition(WALKING, fallbackControllerState); controllerFactory.setInitialState(highLevelControllerParameters.getDefaultInitialControllerState());
controllerFactory.addControllerFailureTransition(DO_NOTHING_BEHAVIOR, fallbackControllerState); controllerFactory.addControllerFailureTransition(WALKING, fallbackControllerState); controllerFactory.setInitialState(highLevelControllerParameters.getDefaultInitialControllerState());