1 #ifndef TABULATED_CONTROLLER_H 2 #define TABULATED_CONTROLLER_H 4 #include "Controller.h" 5 #include <KrisLibrary/geometry/GridTable.h> 24 virtual void StateToFeature(
const Config& q,
const Vector& dq,Vector& x)
const;
26 virtual void FeatureToState(
const Vector& x,Config& q,Vector& dq)
const;
28 virtual void Update(Real dt);
30 bool Load(istream& in);
31 bool Save(ostream& out);
35 Geometry::GridTable<Vector> commands;
43 const Config& qdes,
const Vector& w,
44 int numTransitionSamples,Real discount=1.0);
virtual void FeatureToState(const Vector &x, Config &q, Vector &dq) const
Convert feature vector only used during optimization.
A controller that reads from a grid of torque/desired configuration commands.
Definition: TabulatedController.h:17
A base class for a robot controller. The base class does nothing.
Definition: Controller.h:29
bool torqueMode
Set this to true if torques should be used.
Definition: TabulatedController.h:34
The main robot type used in RobotSim.
Definition: Robot.h:83
virtual void StateToFeature(const Config &q, const Vector &dq, Vector &x) const
Can implement arbitrary feature mappings by overloading this.
Definition: ContactDistance.h:6
void OptimizeMDP(TabulatedController &controller, const Config &qdes, const Vector &w, int numTransitionSamples, Real discount=1.0)
Optimizes the given tabulated controller to reach the desired configuration qdes, with cost weights w...