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.useDefaultDoNothingControlState(); controllerFactory.useDefaultWalkingControlState();
highLevelControllerParameters, walkingControllerParameters, capturePointPlannerParameters); controllerFactory.useDefaultDoNothingControlState(); controllerFactory.useDefaultWalkingControlState();
feetContactSensorNames, wristForceSensorNames, highLevelControllerParameters, walkingControllerParamaters, capturePointPlannerParameters); controllerFactory.useDefaultDoNothingControlState(); controllerFactory.useDefaultWalkingControlState();
capturePointPlannerParameters); controllerFactory.useDefaultDoNothingControlState(); controllerFactory.useDefaultWalkingControlState();