Rcs::AMJointControlPosition Class Reference

#include <AMJointControlPosition.h>

Inheritance diagram for Rcs::AMJointControlPosition:

Collaboration diagram for Rcs::AMJointControlPosition:

Public Member Functions
	AMJointControlPosition (RcsGraph *graph)
virtual	~AMJointControlPosition ()
virtual ActionModel *	clone (RcsGraph *newGraph) const
virtual void	computeCommand (MatNd *q_des, MatNd *q_dot_des, MatNd *T_des, const MatNd *action, double dt)
virtual void	getMinMax (double *min, double *max) const
virtual void	getStableAction (MatNd *action) const
virtual std::vector< std::string >	getNames () const
Public Member Functions inherited from Rcs::AMJointControl
	AMJointControl (RcsGraph *graph)
virtual	~AMJointControl ()
virtual unsigned int	getDim () const
Public Member Functions inherited from Rcs::ActionModel
	ActionModel (RcsGraph *graph)
virtual	~ActionModel ()
ActionModel *	clone () const
virtual void	reset ()
RcsGraph *	getGraph ()
void	setGraph (RcsGraph *newGraph)
virtual ActionModel *	getWrappedActionModel () const
const ActionModel *	unwrapAll () const
ActionModel *	unwrapAll ()
template<typename AM >
const AM *	unwrap () const
template<typename AM >
AM *	unwrap ()
Public Member Functions inherited from Rcs::BoxSpaceProvider
	BoxSpaceProvider ()
virtual	~BoxSpaceProvider ()
	BoxSpaceProvider (const BoxSpaceProvider &)=delete
BoxSpaceProvider &	operator= (const BoxSpaceProvider &)=delete
	BoxSpaceProvider (BoxSpaceProvider &&)=delete
BoxSpaceProvider &	operator= (BoxSpaceProvider &&)=delete
const BoxSpace *	getSpace () const

Additional Inherited Members
Protected Attributes inherited from Rcs::ActionModel
RcsGraph *	graph

Detailed Description

Directly controls joints of the graph by position. Produces joint position commands.

Definition at line 42 of file AMJointControlPosition.h.

Constructor & Destructor Documentation

AMJointControlPosition()

Rcs::AMJointControlPosition::AMJointControlPosition ( RcsGraph *  graph )

explicit

Constructor

Parameters

graph

graph being commanded

Definition at line 42 of file AMJointControlPosition.cpp.

~AMJointControlPosition()

Rcs::AMJointControlPosition::~AMJointControlPosition ( )

virtual

Definition at line 61 of file AMJointControlPosition.cpp.

Member Function Documentation

clone()

ActionModel * Rcs::AMJointControlPosition::clone ( RcsGraph *  newGraph ) const

virtual

Create a deep copy of this action model. The graph the action model operates on is replaced with newGraph.

Parameters

newGraph

optionally, replace the graph used with newGraph.

Returns

deep copy with new graph.

Implements Rcs::ActionModel.

Definition at line 101 of file AMJointControlPosition.cpp.

computeCommand()

void Rcs::AMJointControlPosition::computeCommand ( MatNd *  q_des, MatNd *  q_dot_des, MatNd *  T_des, const MatNd *  action, double  dt  )

virtual

Compute the joint commands from a specified action and the current state.

Parameters

[out]	q_des	desired joint positions
[out]	q_dot_des	desired joint velocities
[out]	T_des	desired joint torques
[in]	action	input action values
	dt	difference in time since the last call.

Implements Rcs::ActionModel.

Definition at line 67 of file AMJointControlPosition.cpp.

getMinMax()

void Rcs::AMJointControlPosition::getMinMax ( double *  min, double *  max  ) const

virtual

Provides minimum and maximum values for the space.

The passed arrays will be large enough to hold getDim() values.

Parameters

[out]	min	minimum value storage
[out]	max	maximum value storage

Implements Rcs::BoxSpaceProvider.

Definition at line 72 of file AMJointControlPosition.cpp.

getNames()

std::vector< std::string > Rcs::AMJointControlPosition::getNames ( ) const

virtual

Provides names for each entry of the space.

These are intended for use in python, i.e., for pandas dataframe column names.

Returns

a vector of name strings. Must be of length getDim() or empty.

Reimplemented from Rcs::BoxSpaceProvider.

Definition at line 89 of file AMJointControlPosition.cpp.

getStableAction()

void Rcs::AMJointControlPosition::getStableAction ( MatNd *  action ) const

virtual

Obtain action values which would keep the system in the current state. For action variables which are velocities or accelerations, this should be 0. For action variables which are positions, this should be the current position.

Parameters

[out]

action

matrix to write the values into

Implements Rcs::ActionModel.

Definition at line 83 of file AMJointControlPosition.cpp.

---

The documentation for this class was generated from the following files:

• src/cpp/core/action/AMJointControlPosition.h
• src/cpp/core/action/AMJointControlPosition.cpp