Makes a joint tracking controller 'aware' of a contact formation. More...
#include <ContactController.h>
Inheritance diagram for Klampt::ContactJointTrackingController:
Public Member Functions | |
| ContactJointTrackingController (RobotModel &robot, const SmartPointer< JointTrackingController > &base) | |
| void | SetGravity (const Vector3 &gravity) |
| void | SetContactEstimate (const ContactFormation &contacts, Real penetrationWeight=100) |
| void | SetFlatContactEstimate (Real kFriction, Real penetrationWeight=100, Real tol=1e-3) |
| void | SenseContactEstimate (Real kFriction, Real penetrationWeight=100) |
| void | SetTorqueRegularization (Real regularizationFactor) |
| void | DesiredToAccel (Real dt, const Config &qdes, const Vector &dqdes, Vector &ddqdes) |
| virtual void | Update (Real dt) |
| virtual void | Reset () |
| virtual bool | ReadState (File &f) |
| virtual bool | WriteState (File &f) const |
 Public Member Functions inherited from Klampt::RobotController | |
| RobotController (RobotModel &robot) | |
| virtual const char * | Type () 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 | |
| SmartPointer< JointTrackingController > | base |
| OperationalSpaceController | opSpaceController |
| Config | qdes_last |
| Config | dqdes_last |
| Public Attributes inherited from Klampt::RobotController | |
| RobotModel & | 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
Makes a joint tracking controller 'aware' of a contact formation.
The documentation for this struct was generated from the following file:
