Rename different task states

include/sot/torque_control/inverse-dynamics-balance-controller.hh

@@ -228,17 +228,17 @@ namespace dynamicgraph {
 
         enum RightHandState
         {
-          HIGH_RIGHT_HAND = 0,
-          /*HIGH_RIGHT_HAND_TRANSITION = 1,*/
-          LOW_RIGHT_HAND = 1
+          TASK_RIGHT_HAND_ON = 0,
+          /*TASK_RIGHT_HAND_TRANSITION = 1,*/
+          TASK_RIGHT_HAND_OFF = 1
         };
         RightHandState         m_rightHandState;
 
         enum LeftHandState
         {
-          HIGH_LEFT_HAND = 0,
-          /*HIGH_LEFT_HAND_TRANSITION = 1,*/
-          LOW_LEFT_HAND = 1
+          TASK_LEFT_HAND_ON = 0,
+          /*TASK_LEFT_HAND_TRANSITION = 1,*/
+          TASK_LEFT_HAND_OFF = 1
         };
         LeftHandState         m_leftHandState;
         /*double            m_handsTransitionTime;*/  /// end time of the current transition (if any)

src/inverse-dynamics-balance-controller.cpp

@@ -319,8 +319,8 @@ namespace dynamicgraph
             ,m_firstTime(true)
             ,m_timeLast(0)
             ,m_contactState(DOUBLE_SUPPORT)
-            ,m_rightHandState(LOW_RIGHT_HAND)
-            ,m_leftHandState(LOW_LEFT_HAND)
+            ,m_rightHandState(TASK_RIGHT_HAND_OFF)
+            ,m_leftHandState(TASK_LEFT_HAND_OFF)
 	    ,m_robot_util(RefVoidRobotUtil())
       {
         RESETDEBUG5();
@@ -430,7 +430,7 @@ namespace dynamicgraph
       
       void InverseDynamicsBalanceController::addTaskRightHand(/*const double& transitionTime*/)
       {
-        if(m_rightHandState == LOW_RIGHT_HAND)
+        if(m_rightHandState == TASK_RIGHT_HAND_OFF)
         {
           SEND_MSG("Adds right hand SE3 task in "/*+toString(transitionTime)+" s"*/, MSG_TYPE_INFO);
           const double & w_hands = m_w_handsSIN.accessCopy();
@@ -438,17 +438,17 @@ namespace dynamicgraph
         }
         /*if(transitionTime>m_dt)
         {
-          m_rightHandState = HIGH_RIGHT_HAND_TRANSITION;
+          m_rightHandState = TASK_RIGHT_HAND_TRANSITION;
           m_handsTransitionTime = m_t + transitionTime;
         }
         else
-          m_rightHandState = HIGH_RIGHT_HAND;*/
-        m_rightHandState = HIGH_RIGHT_HAND;
+          m_rightHandState = TASK_RIGHT_HAND_ON;*/
+        m_rightHandState = TASK_RIGHT_HAND_ON;
       }
 
       void InverseDynamicsBalanceController::addTaskLeftHand(/*const double& transitionTime*/)
       {
-        if(m_leftHandState == LOW_LEFT_HAND)
+        if(m_leftHandState == TASK_LEFT_HAND_OFF)
         {
           SEND_MSG("Raise left hand in "/*+toString(transitionTime)+" s"*/, MSG_TYPE_INFO);
           const double & w_hands = m_w_handsSIN.accessCopy();
@@ -456,12 +456,12 @@ namespace dynamicgraph
         }
         /*if(transitionTime>m_dt)
         {
-          m_leftHandState = HIGH_LEFT_HAND_TRANSITION;
+          m_leftHandState = TASK_LEFT_HAND_TRANSITION;
           m_handsTransitionTime = m_t + transitionTime;
         }
         else
-          m_leftHandState = HIGH_LEFT_HAND;*/
-        m_leftHandState = HIGH_LEFT_HAND;
+          m_leftHandState = TASK_LEFT_HAND_ON;*/
+        m_leftHandState = TASK_LEFT_HAND_ON;
       }
 
       void InverseDynamicsBalanceController::addRightFootContact(const double& transitionTime)
@@ -488,21 +488,21 @@ namespace dynamicgraph
 
       void InverseDynamicsBalanceController::removeTaskRightHand(const double& transitionTime)
       {
-        if(m_rightHandState == HIGH_RIGHT_HAND)
+        if(m_rightHandState == TASK_RIGHT_HAND_ON)
         {
           SEND_MSG("Removes right hand SE3 task in "+toString(transitionTime)+" s", MSG_TYPE_INFO);
           m_invDyn->removeTask(m_taskRH->name(), transitionTime);
-          m_rightHandState = LOW_RIGHT_HAND;
+          m_rightHandState = TASK_RIGHT_HAND_OFF;
         }
       }
 
       void InverseDynamicsBalanceController::removeTaskLeftHand(const double& transitionTime)
       {
-        if(m_leftHandState == HIGH_LEFT_HAND)
+        if(m_leftHandState == TASK_LEFT_HAND_ON)
         {
           SEND_MSG("Removes left hand SE3 task in "+toString(transitionTime)+" s", MSG_TYPE_INFO);
           m_invDyn->removeTask(m_taskLH->name(), transitionTime);
-          m_leftHandState = LOW_LEFT_HAND;
+          m_leftHandState = TASK_LEFT_HAND_OFF;
         }
       }
 
@@ -753,13 +753,13 @@ namespace dynamicgraph
         {
           m_contactState = LEFT_SUPPORT;
         }
-        /*if(m_rightHandState == HIGH_RIGHT_HAND_TRANSITION && m_t >= m_handsTransitionTime)
+        /*if(m_rightHandState == TASK_RIGHT_HAND_TRANSITION && m_t >= m_handsTransitionTime)
         {
-              m_rightHandState = HIGH_RIGHT_HAND;
+              m_rightHandState = TASK_RIGHT_HAND_ON;
                 }
-        if(m_leftHandState == HIGH_LEFT_HAND_TRANSITION && m_t >= m_handsTransitionTime)
+        if(m_leftHandState == TASK_LEFT_HAND_TRANSITION && m_t >= m_handsTransitionTime)
         {
-              m_leftHandState = HIGH_LEFT_HAND;
+              m_leftHandState = TASK_LEFT_HAND_ON;
                 }*/
 
         getProfiler().start(PROFILE_READ_INPUT_SIGNALS);
@@ -826,7 +826,7 @@ namespace dynamicgraph
           m_taskLF->Kp(kp_feet);
           m_taskLF->Kd(kd_feet);
         }
-        if(m_rightHandState == HIGH_RIGHT_HAND /*|| m_rightHandState == HIGH_RIGHT_HAND_TRANSITION*/)
+        if(m_rightHandState == TASK_RIGHT_HAND_ON /*|| m_rightHandState == TASK_RIGHT_HAND_TRANSITION*/)
         {
           const Eigen::Matrix<double,12,1>& x_rh_ref = m_rh_ref_posSIN(iter);
           const Vector6& dx_rh_ref =  m_rh_ref_velSIN(iter);
@@ -840,7 +840,7 @@ namespace dynamicgraph
           m_taskRH->Kp(kp_hands);
           m_taskRH->Kd(kd_hands);
         }
-        if(m_leftHandState == HIGH_LEFT_HAND /*|| m_leftHandState == HIGH_LEFT_HAND_TRANSITION*/)
+        if(m_leftHandState == TASK_LEFT_HAND_ON /*|| m_leftHandState == TASK_LEFT_HAND_TRANSITION*/)
         {
           const Eigen::Matrix<double,12,1>& x_lh_ref = m_lh_ref_posSIN(iter);
           const Vector6& dx_lh_ref =  m_lh_ref_velSIN(iter);