text: /* 
   * Copyright (c) 2018-2019, CNRS-UM LIRMM
   * All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *
   * 1. Redistributions of source code must retain the above copyright notice,
   * this list of conditions and the following disclaimer.
   *
   * 2. Redistributions in binary form must reproduce the above copyright notice,
   * this list of conditions and the following disclaimer in the documentation
   * and/or other materials provided with the distribution.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   */
  
  #pragma once
  
  #include <mc_control/fsm/Controller.h>
  #include <mc_control/fsm/State.h>
  
  #include <lipm_walking/Controller.h>
  #include <lipm_walking/SwingFoot.h>
  #include <lipm_walking/State.h>
  
  namespace lipm_walking
  {
    namespace states
    {
      /** Single support phase.
       *
       */
      struct SingleSupport : State
      {
        /** Start state.
         *
         */
        void start() override;
  
        /** Teardown state.
         *
         */
        void teardown() override;
  
        /** Check transitions at beginning of control cycle.
         *
         */
        bool checkTransitions() override;
  
        /** Main state function, called if no transition at this cycle.
         *
         */
        void runState() override;
  
        /** Update swing foot target.
         *
         */
        void updateSwingFoot();
  
        /** Update horizontal MPC preview.
         *
         */
        void updatePreview();
  
      private:
        SwingFoot swingFoot_;
        bool hasUpdatedMPCOnce_;
        double duration_;
        double earlyDoubleSupportDuration_;
        double remTime_;
        double stateTime_;
        double timeSinceLastPreviewUpdate_;
        std::shared_ptr<mc_tasks::force::CoPTask> supportFootTask;
        std::shared_ptr<mc_tasks::force::CoPTask> swingFootTask;
      };
    }
  }
  