Klamp't  0.8.1
Public Member Functions | Public Attributes | List of all members
ControlledRobotSimulator Class Reference

A class containing information about an ODE-simulated and controlled robot. More...

#include <ControlledSimulator.h>

Public Member Functions

void Init (Robot *robot, ODERobot *oderobot, RobotController *controller=NULL)
 
void Step (Real dt, WorldSimulation *sim)
 
void UpdateRobot ()
 
void GetCommandedConfig (Config &q)
 
void GetCommandedVelocity (Config &dq)
 
void GetSensedConfig (Config &q)
 
void GetSensedVelocity (Config &dq)
 
void GetSimulatedConfig (Config &q)
 
void GetSimulatedVelocity (Config &dq)
 
void GetActuatorTorques (Vector &t) const
 Returns a list of torques commanded at the actuator (driver) level.
 
void GetLinkTorques (Vector &t) const
 Returns a list of torques commanded at the link level.
 
RobotMotorCommandGetCommands ()
 
bool ReadState (File &f)
 
bool WriteState (File &f) const
 

Public Attributes

Robotrobot
 
ODERobotoderobot
 
RobotControllercontroller
 
Real controlTimeStep
 
Real curTime
 
Real nextControlTime
 
RobotMotorCommand command
 
RobotSensors sensors
 
vector< Real > nextSenseTime
 

Detailed Description

A class containing information about an ODE-simulated and controlled robot.

Performs the controller update and sensor simulation for each robot in the WorldSimulation class. Most of these functions won't need to be modified or used except by GUIs to examine the simulator/control state.


The documentation for this class was generated from the following file: