Klamp't
0.9.0
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An interface for a Klamp't controlled robot. This should be implemented if you wish to use Klamp't controllers to communicate directly with a real robot's motor controller. More...
#include <ControlledRobot.h>
Public Member Functions | |
virtual bool | Init (RobotModel *robot, RobotController *controller=NULL) |
virtual void | Step (Real dt) |
virtual void | ReadSensorData (RobotSensors &sensors)=0 |
virtual void | WriteCommandData (const RobotMotorCommand &command)=0 |
void | GetCommandedConfig (Config &q) |
void | GetCommandedVelocity (Config &dq) |
void | GetSensedConfig (Config &q) |
void | GetSensedVelocity (Config &dq) |
Public Attributes | |
RobotModel * | klamptRobotModel |
RobotController * | klamptController |
RobotMotorCommand | command |
RobotSensors | sensors |
An interface for a Klamp't controlled robot. This should be implemented if you wish to use Klamp't controllers to communicate directly with a real robot's motor controller.
Init should be called first. Then, a loop should call the Step method every dt seconds to:
The subclass is responsible for overloading ReadSensorData (step 1) and WriteCommandData (step 3).