A controller that interfaces with a python module. More...
#include <PyController.h>
Inheritance diagram for PyController:
Public Member Functions | |
| PyController (Robot &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 RobotController | |
| RobotController (Robot &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 RobotController | |
| Robot & | 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) | |
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
- 't': current time
- 'dt': time step
- 'qcmd': current commanded configuration
- 'dqcmd': current commanded velocity
- for each sensor named 's', 's' is a list of sensor measurements.
The following actuator keys are accepted:
- 'qcmd': desired configuration
- 'dqcmd': desired velocity
- 'torquecmd': a torque command or a feedforward torque.
Other functions include
- "reset" which takes no arguments
- "getSettingsFunc" / "setSettingsFunc" which return / take a dictionary representing the tunable settings for the controller.
- "getState" / "setState" which return / take a string representing the controller's state. These are only used in simulation mode.
The documentation for this class was generated from the following file:
