Klamp't  0.8.1
Public Member Functions | Public Attributes | List of all members
TabulatedController Class Reference

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
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 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: