Klamp't
0.9.0
|
A controller that interfaces with a python module. More...
#include <PyController.h>
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 | |
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 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