Setup custom control state.

Author: calvertdw

ihmc-common-walking-control-modules/src/main/java/us/ihmc/commonWalkingControlModules/highLevelHumanoidControl/factories/PositionPassthroughControllerStateFactory.java

@@ -0,0 +1,30 @@
+package us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.factories;
+
+import us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.HighLevelControllerFactoryHelper;
+import us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.highLevelStates.HighLevelControllerState;
+import us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.highLevelStates.PositionPassthroughControllerState;
+import us.ihmc.humanoidRobotics.communication.packets.dataobjects.HighLevelControllerName;
+
+public class PositionPassthroughControllerStateFactory implements HighLevelControllerStateFactory
+{
+   private PositionPassthroughControllerState positionPassthroughControllerState;
+
+   @Override
+   public HighLevelControllerState getOrCreateControllerState(HighLevelControllerFactoryHelper controllerFactoryHelper)
+   {
+      if (positionPassthroughControllerState == null)
+      {
+         positionPassthroughControllerState = new PositionPassthroughControllerState(controllerFactoryHelper.getCommandInputManager(),
+                                                                                     controllerFactoryHelper.getHighLevelHumanoidControllerToolbox(),
+                                                                                     controllerFactoryHelper.getHighLevelControllerParameters());
+      }
+
+      return positionPassthroughControllerState;
+   }
+
+   @Override
+   public HighLevelControllerName getStateEnum()
+   {
+      return HighLevelControllerName.POSITION_PASSTHROUGH;
+   }
+}