Klamp't  0.9.0
Public Member Functions | Public Attributes | List of all members
Klampt::PyController Class Reference

A controller that interfaces with a python module. More...

#include <PyController.h>

Inheritance diagram for Klampt::PyController:

Public Member Functions

 PyController (RobotModel &robot)
bool Load (const string &moduleName)
void Unload ()
virtual const char * Type () const
virtual void Update (Real dt)
virtual void Reset ()
virtual bool ReadState (File &f)
virtual bool WriteState (File &f) const
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)
- 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

string moduleName
PyObject * module
PyObject * updateFunc
PyObject * resetFunc
PyObject * getStateFunc
PyObject * setStateFunc
PyObject * getSettingsFunc
PyObject * setSettingsFunc
vector< string > commandFuncNames
vector< PyObject * > commandFuncs
- Public Attributes inherited from Klampt::RobotController
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.
 sensor input (filled in by simulator)
 motor command output (output to simulator)

Detailed Description

A controller that interfaces with a python module.

The module is required to define at least the "update" function. This function takes in a dictionary of sensor data and outputs a dictionary of actuator data.

The sensor dictionary includes

The following actuator keys are accepted:

Other functions include

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