Klamp't
0.9.0
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A controller that uses a piecewise polynomial trajectory. More...
#include <PathController.h>
Public Member Functions | |
PolynomialPathController (RobotModel &robot) | |
virtual const char * | Type () const |
virtual void | GetDesiredState (Config &q_des, Vector &dq_des) |
subclasses should override this | |
virtual void | Update (Real dt) |
virtual void | Reset () |
virtual bool | ReadState (File &f) |
virtual bool | WriteState (File &f) const |
virtual vector< string > | Commands () const |
virtual bool | SendCommand (const string &name, const string &str) |
Public Member Functions inherited from Klampt::JointTrackingController | |
JointTrackingController (RobotModel &robot) | |
Public Member Functions inherited from Klampt::RobotController | |
RobotController (RobotModel &robot) | |
virtual map< string, string > | Settings () const |
virtual bool | GetSetting (const string &name, string &str) const |
virtual bool | SetSetting (const string &name, const string &str) |
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 Member Functions inherited from Klampt::PolynomialMotionQueue | |
void | SetLimits (const RobotModel &robot) |
void | SetConstant (const Config &x) |
Sets a constant trajectory. | |
void | SetPath (const Spline::PiecewisePolynomialND &path) |
Sets the trajectory from a PiecewisePolynomialND. | |
void | SetPath (const ParabolicRamp::DynamicPath &path) |
Sets the trajectory from a DynamicPath. | |
void | SetPiecewiseLinear (const vector< Config > &milestones, const vector< Real > ×) |
void | SetPiecewiseCubic (const vector< Config > &milestones, const vector< Vector > &velocities, const vector< Real > ×) |
void | SetPiecewiseLinearRamp (const vector< Config > &milestones) |
void | Advance (Real dt) |
Moves forward the internal time marker. | |
void | Append (const Spline::PiecewisePolynomialND &path) |
void | Append (const ParabolicRamp::DynamicPath &path) |
Appends a DynamicPath. | |
void | AppendLinear (const Config &config, Real dt) |
void | AppendCubic (const Config &x, const Config &v, Real dt) |
void | AppendRamp (const Config &x) |
Appends a time-optimal ramp from the end configuration/velocity to x. | |
void | AppendLinearRamp (const Config &x) |
void | AppendRamp (const Config &x, const Vector &v) |
void | GetPath (Spline::PiecewisePolynomialND &path) const |
Retrieves the path, defined on the range [t0,t0+T]. | |
void | Cut (Real time, bool relative=true) |
Real | CurTime () const |
Returns the current time t0. | |
Config | CurConfig () const |
Returns the configuration at the current time y(t0) | |
Config | CurVelocity () const |
Returns the velocity at the current time y'(t0) | |
Config | Endpoint () const |
Returns the configuration at the end time y(t0+T) | |
Vector | EndpointVelocity () const |
Returns the velocity at the end time y'(t0+T) | |
void | Eval (Real time, Config &x, bool relative=true) const |
void | Deriv (Real time, Config &dx, bool relative=true) const |
bool | Done () const |
Returns true if there is no more trajectory to be executed. | |
Real | TimeRemaining () const |
Returns the duration of the trajectory remaining to be executed. | |
Additional Inherited Members | |
Public Attributes inherited from Klampt::JointTrackingController | |
Config | qdesDefault |
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) | |
Public Attributes inherited from Klampt::PolynomialMotionQueue | |
Real | pathOffset |
Spline::PiecewisePolynomialND | path |
Vector | qMin |
Vector | qMax |
Vector | velMax |
Vector | accMax |
A controller that uses a piecewise polynomial trajectory.
Accepts commands set_q,append_q,set_tq,append_tq,set_qv,append_qv, append_q_linear,set_tqv,append_tqv,set_tv,brake.