Klamp't  0.9.0
Classes | Functions
Control

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.
 

Detailed Description