Alex exoskeleton
ALEX SoftwareDocumentation
ExoTestState.h
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1 
12 #ifndef EXOTESTSTATE_H_DEF
13 #define EXOTESTSTATE_H_DEF
14 
15 #include <time.h>
16 
17 #include <iostream>
18 
19 #include "DebugMacro.h"
20 #include "DummyTrajectoryGenerator.h"
21 #include "ExoRobot.h"
22 #include "State.h"
23 
30 class ExoTestState : public State {
31  protected:
32  // \todo Might be good to make these Const
33  ExoRobot *robot;
34  DummyTrajectoryGenerator *trajectoryGenerator;
35 
36  public:
37  virtual void entry() = 0;
38  virtual void during() = 0;
39  virtual void exit() = 0;
40  ExoTestState(StateMachine *m, ExoRobot *exo, DummyTrajectoryGenerator *tg, const char *name = NULL);
41 };
42 
43 #endif
ExoRobot
Example implementation of the Robot class, representing an X2 Exoskeleton, using DummyActuatedJoint a...
Definition: ExoRobot.h:27
DummyTrajectoryGenerator
Example Implementation of TrajectoryGenerator. Includes only two trajectories (Sit-to-Stand and Stand...
Definition: DummyTrajectoryGenerator.h:35
ExoTestState::ExoTestState
ExoTestState(StateMachine *m, ExoRobot *exo, DummyTrajectoryGenerator *tg, const char *name=NULL)
Definition: ExoTestState.cpp:3
ExoTestState::during
virtual void during()=0
Called continuously whilst in that state. Pure virtual function, must be overwritten by each state...
DummyTrajectoryGenerator.h
A trajectory generator to be used for testing purposes.
StateMachine
Abstract class representing a state machine. Includes a number of State and Transition objects...
Definition: StateMachine.h:26
ExoTestState::trajectoryGenerator
DummyTrajectoryGenerator * trajectoryGenerator
Definition: ExoTestState.h:34
State::name
const char * name
Definition: State.h:93
ExoTestState::entry
virtual void entry()=0
Called once when the state is entered. Pure virtual function, must be overwritten by each state...
ExoTestState
Example Implementation of State Class. Used with ExoTestMachine.
Definition: ExoTestState.h:30
State
Abstract class representing a state in a StateMachine.
Definition: State.h:30
ExoTestState::robot
ExoRobot * robot
Definition: ExoTestState.h:33
ExoTestState::exit
virtual void exit()=0
Called once when the state exits. Pure virtual function, must be overwritten by each state...
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