Add interrupt state #14
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mmurooka
approved these changes
Apr 11, 2024
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| #pragma once | |||
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| #include <TrajColl/CubicInterpolator.h> | |||
| } | ||
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| // Setup GUI | ||
| ctl().gui()->addElement({ctl().name()}, mc_rtc::gui::Button("Start", [this]() { phase_ = 1; })); |
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I think "Resume" is a good name for the button in the Interrupt state. (and we can distinguishes the buttons between Initial state and Interrupt state)
orikuma
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to orikuma/MultiContactController
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Apr 12, 2024
orikuma
added a commit
to orikuma/MultiContactController
that referenced
this pull request
Apr 12, 2024
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I want to stop executing multi-contact motion after finishing
MCC::ConfigMotionstate, butMCC::Initialresets the managers and tasks in MultiContactController and they may cause inconsistency in the motion without interrupts.Therefore, I implemented
MCC::Interruptthat only stops execution of multi-contact motion without reset.