Klamp't
0.9.0
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A controllre that saves/replays low-level commands from disk. More...
#include <LoggingController.h>
Public Member Functions | |
LoggingController (RobotModel &robot, const shared_ptr< RobotController > &base) | |
virtual const char * | Type () const |
virtual void | Update (Real dt) |
virtual void | Reset () |
virtual bool | ReadState (File &f) |
virtual bool | WriteState (File &f) const |
bool | SaveLog (const char *fn) const |
bool | LoadLog (const char *fn) |
virtual map< string, string > | Settings () const |
virtual bool | GetSetting (const string &name, string &str) const |
virtual bool | SetSetting (const string &name, const string &str) |
virtual vector< string > | Commands () const |
virtual bool | SendCommand (const string &name, const string &str) |
bool | EqualCommand (const ActuatorCommand &a, const ActuatorCommand &b) const |
bool | EqualCommand (const RobotMotorCommand &a, const RobotMotorCommand &b) const |
void | RemoveDelays (Real maxDelayTime) |
Public Member Functions inherited from Klampt::RobotController | |
RobotController (RobotModel &robot) | |
void | SetPIDCommand (const Config &qdes) |
void | SetPIDCommand (const Config &qdes, const Config &dqdes) |
void | SetFeedforwardPIDCommand (const Config &qdes, const Config &dqdes, const Vector &torques) |
void | SetTorqueCommand (const Vector &torques) |
bool | GetCommandedConfig (Config &q) |
bool | GetCommandedVelocity (Config &dq) |
bool | GetSensedConfig (Config &q) |
bool | GetSensedVelocity (Config &dq) |
Public Attributes | |
shared_ptr< RobotController > | base |
bool | save |
bool | replay |
bool | onlyJointCommands |
vector< pair< Real, RobotMotorCommand > > | trajectory |
int | replayIndex |
Public Attributes inherited from Klampt::RobotController | |
RobotModel & | robot |
Real | time |
Real | nominalTimeStep |
a "desired" time step, by default 0, which acts as a hint to the simulator. Note that it doesn't have to abide the hint. | |
RobotSensors * | sensors |
sensor input (filled in by simulator) | |
RobotMotorCommand * | command |
motor command output (output to simulator) | |
A controllre that saves/replays low-level commands from disk.
Use the boolean flags 'save' and 'replay' to control the logging. 'Replay' overrides the base controller's normal update function. Be careful not to interleave the replay mode with commands to the base controller!
If 'onlyJointCommands' is true, only the joint commands qdes, dqdes, torque, and desiredVelocity are replayed. The standard servo parameters are left untouched.