Klamp't
0.9.0
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A class containing information about an ODE-simulated and controlled robot. More...
#include <SimRobotController.h>
Public Member Functions | |
void | Init (RobotModel *robot, ODERobot *oderobot, RobotController *controller=NULL) |
void | Step (Real dt, Simulator *sim) |
void | UpdateRobot () |
void | GetCommandedConfig (Config &q) |
void | GetCommandedVelocity (Config &dq) |
void | GetSensedConfig (Config &q) |
void | GetSensedVelocity (Config &dq) |
void | GetSimulatedConfig (Config &q) |
void | GetSimulatedVelocity (Config &dq) |
void | GetActuatorTorques (Vector &t) const |
Returns a list of torques commanded at the actuator (driver) level. | |
void | GetLinkTorques (Vector &t) const |
Returns a list of torques commanded at the link level. | |
RobotMotorCommand * | GetCommands () |
bool | ReadState (File &f) |
bool | WriteState (File &f) const |
Public Attributes | |
RobotModel * | robot |
ODERobot * | oderobot |
RobotController * | controller |
Real | controlTimeStep |
Real | curTime |
Real | nextControlTime |
RobotMotorCommand | command |
RobotSensors | sensors |
vector< Real > | nextSenseTime |
A class containing information about an ODE-simulated and controlled robot.
Performs the controller update and sensor simulation for each robot in the Simulator class. Most of these functions won't need to be modified or used except by GUIs to examine the simulator/control state.