Rcs::AMPlateAngPos Class Reference

#include <AMPlateAngPos.h>

Inheritance diagram for Rcs::AMPlateAngPos:

Collaboration diagram for Rcs::AMPlateAngPos:

Public Member Functions
	AMPlateAngPos (RcsGraph *graph)
virtual	~AMPlateAngPos ()
virtual ActionModel *	clone (RcsGraph *newGraph) const
virtual unsigned int	getDim () const
virtual void	getMinMax (double *min, double *max) const
virtual std::vector< std::string >	getNames () const
virtual void	computeCommand (MatNd *q_des, MatNd *q_dot_des, MatNd *T_des, const MatNd *action, double dt)
virtual void	reset ()
virtual void	getStableAction (MatNd *action) const
Public Member Functions inherited from Rcs::ActionModelIK
	ActionModelIK (RcsGraph *graph)
	ActionModelIK (RcsGraph *graph, std::vector< Task *> tasks)
virtual	~ActionModelIK ()
const ControllerBase *	getController () const
RcsGraph *	getDesiredGraph () const
void	setDesiredGraph (RcsGraph *newGraph)
void	setupCollisionModel (const RcsCollisionMdl *modelToCopy)
void	computeIK (MatNd *q_des, MatNd *q_dot_des, MatNd *T_des, const MatNd *x_des, double dt)
void	computeIKVel (MatNd *q_des, MatNd *q_dot_des, MatNd *T_des, const MatNd *x_dot_des, double dt)
Public Member Functions inherited from Rcs::ActionModel
	ActionModel (RcsGraph *graph)
virtual	~ActionModel ()
ActionModel *	clone () const
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

Protected Attributes
MatNd *	x_des
Protected Attributes inherited from Rcs::ActionModelIK
RcsGraph *	desiredGraph
RcsCollisionMdl *	collisionMdl
MatNd *	dx_des
MatNd *	dH
MatNd *	dq_ref
Protected Attributes inherited from Rcs::ActionModel
RcsGraph *	graph

Additional Inherited Members
Protected Member Functions inherited from Rcs::ActionModelIK
void	addTask (Task *task)
void	addFixedTask (Task *task, MatNd *value)
unsigned int	getNumActiveTasks () const
void	ikFromDX (MatNd *q_des, MatNd *q_dot_des, double dt) const

Detailed Description

Action model controlling the plate's angular position in the ball-on-plate task. The action vector contains the angular position around the x and y axes. Produces joint position commands.

Definition at line 44 of file AMPlateAngPos.h.

Constructor & Destructor Documentation

AMPlateAngPos()

Rcs::AMPlateAngPos::AMPlateAngPos ( RcsGraph *  graph )

explicit

Constructor. The passed graph must contain a body named "Plate".

Parameters

graph

graph being commanded

Definition at line 41 of file AMPlateAngPos.cpp.

~AMPlateAngPos()

Rcs::AMPlateAngPos::~AMPlateAngPos ( )

virtual

Definition at line 55 of file AMPlateAngPos.cpp.

Member Function Documentation

clone()

ActionModel * Rcs::AMPlateAngPos::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 112 of file AMPlateAngPos.cpp.

computeCommand()

void Rcs::AMPlateAngPos::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 79 of file AMPlateAngPos.cpp.

getDim()

unsigned int Rcs::AMPlateAngPos::getDim ( ) const

virtual

Provides the number of elements in the space. Since the BoxSpace object will be cached, this must not change.

Returns

number of elements for the space.

Implements Rcs::BoxSpaceProvider.

Definition at line 60 of file AMPlateAngPos.cpp.

getMinMax()

void Rcs::AMPlateAngPos::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 65 of file AMPlateAngPos.cpp.

getNames()

std::vector< std::string > Rcs::AMPlateAngPos::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 74 of file AMPlateAngPos.cpp.

getStableAction()

void Rcs::AMPlateAngPos::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 99 of file AMPlateAngPos.cpp.

reset()

void Rcs::AMPlateAngPos::reset ( )

virtual

Called at the start of a rollout to reset any state modified by computeCommand(). This allows to reuse the ActionModel for a new simulation rollout. The graph state will already be reset, so it can be used safely. It will be called before the first rollout too, so it can also be used to setup internals that depend on operations in subclass constructors.

Reimplemented from Rcs::ActionModelIK.

Definition at line 91 of file AMPlateAngPos.cpp.

Member Data Documentation

x_des

MatNd* Rcs::AMPlateAngPos::x_des

protected

Definition at line 74 of file AMPlateAngPos.h.

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

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