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StateMachine.cpp
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StateMachine.cpp
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/*
* Copyright (c) 2014-2016, Georgia Tech Research Corporation
* All rights reserved.
*
* Author(s): Jeongseok Lee <jslee02@gmail.com>
*
* Georgia Tech Graphics Lab and Humanoid Robotics Lab
*
* Directed by Prof. C. Karen Liu and Prof. Mike Stilman
* <karenliu@cc.gatech.edu> <mstilman@cc.gatech.edu>
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * 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.
*/
#include "examples/atlasSimbicon/StateMachine.h"
#include "examples/atlasSimbicon/State.h"
// Macro for functions not implemented yet
#define NOT_YET(FUNCTION) std::cout << #FUNCTION\
<< "Not implemented yet."\
<< std::endl;
using namespace std;
using namespace dart::dynamics;
using namespace dart::constraint;
//==============================================================================
StateMachine::StateMachine(const std::string& _name)
: mName(_name),
mCurrentState(nullptr),
mBeginTime(0.0),
mEndTime(0.0),
mFrame(0),
mElapsedTime(0.0)
{
}
//==============================================================================
StateMachine::~StateMachine()
{
for (vector<State*>::iterator it = mStates.begin();
it != mStates.end(); ++it)
{
delete *it;
}
}
//==============================================================================
void StateMachine::setName(const std::string& _name)
{
mName = _name;
}
//==============================================================================
const std::string& StateMachine::getName() const
{
return mName;
}
//==============================================================================
void StateMachine::addState(State* _state)
{
assert(_state != nullptr && "Invalid state");
assert(!_containState(_state) && "_state shouldn't be in mStates");
mStates.push_back(_state);
}
//==============================================================================
void StateMachine::setInitialState(State* _state)
{
assert(_state != nullptr);
assert(_containState(_state));
mCurrentState = _state;
}
//==============================================================================
void StateMachine::begin(double _currentTime)
{
// dtmsg << "StateMachine [" << getName() << "]: begin()." << endl;
mBeginTime = _currentTime;
mFrame = 0;
mElapsedTime = 0.0;
}
//==============================================================================
void StateMachine::computeControlForce(double _dt)
{
assert(mCurrentState != nullptr && "Invaild current state.");
// Check transition is needed from current state
if (mCurrentState->isTerminalConditionSatisfied())
transiteTo(mCurrentState->getNextState(), mBeginTime + mElapsedTime);
// Update control force
mCurrentState->computeControlForce(_dt);
mElapsedTime += _dt;
mFrame++;
}
//==============================================================================
void StateMachine::end(double _currentTime)
{
mEndTime = _currentTime;
// dtmsg << "StateMachine [" << getName() << "]: end()." << endl;
}
//==============================================================================
State* StateMachine::getCurrentState()
{
return mCurrentState;
}
//==============================================================================
void StateMachine::transiteToNextState(double _currentTime)
{
transiteTo(mCurrentState->getNextState(), _currentTime);
}
//==============================================================================
void StateMachine::transiteTo(State* _state, double _currentTime)
{
assert(_containState(_state) && "_state should be in mStates");
string prevStateName = mCurrentState->getName();
string nextStateName = _state->getName();
// Finish current state
mCurrentState->end(_currentTime);
// Transite to _state
mCurrentState = _state;
mCurrentState->begin(_currentTime);
dtmsg << "Transition: ["
<< prevStateName << "] --> ["
<< nextStateName << "]." << endl;
}
//==============================================================================
void StateMachine::transiteTo(string& _stateName, double _currentTime)
{
// _state should be in mStates
State* state = _findState(_stateName);
assert(state != nullptr && "Invaild state.");
transiteTo(state, _currentTime);
}
//==============================================================================
void StateMachine::transiteTo(std::size_t _idx, double _currentTime)
{
assert(_idx <= mStates.size() && "Invalid index of State.");
transiteTo(mStates[_idx], _currentTime);
}
//==============================================================================
bool StateMachine::_containState(const State* _state) const
{
for (vector<State*>::const_iterator it = mStates.begin();
it != mStates.end(); ++it)
{
if (*it == _state)
return true;
}
return false;
}
//==============================================================================
bool StateMachine::_containState(const string& _name) const
{
return _containState(_findState(_name));
}
//==============================================================================
State* StateMachine::_findState(const string& _name) const
{
State* state = nullptr;
for (vector<State*>::const_iterator it = mStates.begin();
it != mStates.end(); ++it)
{
if ((*it)->getName() == _name)
{
state = *it;
break;
}
}
return state;
}