Klamp't
0.9.0
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Classes | |
struct | Klampt::ActuatorCommand |
A basic motor type. Handles PID, torque, and locked velocity modes. More... | |
struct | Klampt::RobotMotorCommand |
A collection of basic motor types. More... | |
class | Klampt::RobotController |
A base class for a robot controller. The base class does nothing. More... | |
class | Klampt::RobotControllerFactory |
A class to simplify the loading of different controllers at run time. More... | |
class | Klampt::FeedforwardController |
A class that adds a feedforward torque to the basic control. The necessary feedforward torque is estimated assuming the robot is fixed-base. More... | |
struct | Klampt::OperationalSpaceController |
A combination of multiple "tasks" that define a weighted optimization objective for the joint torques. More... | |
class | Klampt::PolynomialMotionQueue |
A motion queue that runs on a piecewise polynomial path. Can be commanded to reach configurations (with or without velocities specified) smoothly using piecewise linear or cubic curves. More... | |
class | Klampt::PolynomialPathController |
A controller that uses a piecewise polynomial trajectory. More... | |
class | Klampt::SerialController |
A controller that writes sensor data to a socket and reads robot commands from a socket. More... | |
class | Klampt::TabulatedController |
A controller that reads from a grid of torque/desired configuration commands. More... | |
struct | Klampt::RobotStateEstimator |
A generic state estimator base class. Base class does nothing. More... | |
struct | Klampt::OmniscientStateEstimator |
A state estimator will full knowledge of the robot's simulated state. An ODERobot must be provided at initialization. More... | |
struct | Klampt::IntegratedStateEstimator |
A state estimator that integrates information from accelerometers (i.e., an Inertial Measurement Unit) and gravity sensors. More... | |
Functions | |
void | Klampt::OptimizeMDP (TabulatedController &controller, const Config &qdes, const Vector &w, int numTransitionSamples, Real discount=1.0) |
Optimizes the given tabulated controller to reach the desired configuration qdes, with cost weights w, using an MDP. | |