A controller that reads from a grid of torque/desired configuration commands. More...
#include <TabulatedController.h>
Inheritance diagram for TabulatedController:
Public Member Functions | |
| TabulatedController (Robot &robot) | |
| virtual void | StateToFeature (const Config &q, const Vector &dq, Vector &x) const |
| Can implement arbitrary feature mappings by overloading this. | |
| virtual void | FeatureToState (const Vector &x, Config &q, Vector &dq) const |
| Convert feature vector only used during optimization. | |
| virtual void | Update (Real dt) |
| bool | Load (istream &in) |
| bool | Save (ostream &out) |
 Public Member Functions inherited from RobotController | |
| RobotController (Robot &robot) | |
| virtual const char * | Type () const |
| 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) |
| 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 | |
| bool | torqueMode |
| Set this to true if torques should be used. | |
| Geometry::GridTable< Vector > | commands |
| 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 reads from a grid of torque/desired configuration commands.
If the state is outside of the grid it uses the closest available value.
Only realistic for low dimensional problems (q <= 2? 3?)
The documentation for this class was generated from the following file:
