1 #ifndef ODE_CONTROLLED_SIMULATOR_H 2 #define ODE_CONTROLLED_SIMULATOR_H 4 #include <Klampt/Control/Controller.h> 27 void GetCommandedConfig(Config& q);
28 void GetCommandedVelocity(Config& dq);
29 void GetSensedConfig(Config& q);
30 void GetSensedVelocity(Config& dq);
31 void GetSimulatedConfig(Config& q);
32 void GetSimulatedVelocity(Config& dq);
39 bool ReadState(File& f);
40 bool WriteState(File& f)
const;
53 vector<Real> nextSenseTime;
A set of sensors for the robot.
Definition: Sensor.h:111
void GetActuatorTorques(Vector &t) const
Returns a list of torques commanded at the actuator (driver) level.
A physical simulator for a WorldModel.
Definition: Simulator.h:69
A collection of basic motor types.
Definition: Command.h:45
void GetLinkTorques(Vector &t) const
Returns a list of torques commanded at the link level.
A robot simulated in an ODE "world".
Definition: ODERobot.h:30
A class containing information about an ODE-simulated and controlled robot.
Definition: SimRobotController.h:19
A base class for a robot controller. The base class does nothing.
Definition: Controller.h:29
The main robot type used in RobotSim.
Definition: Robot.h:83
Definition: ContactDistance.h:6