Rcs::ActionModel Class Reference

#include <ActionModel.h>

Inheritance diagram for Rcs::ActionModel:

Collaboration diagram for Rcs::ActionModel:

Public Member Functions
	ActionModel (RcsGraph *graph)
virtual	~ActionModel ()
ActionModel *	clone () const
virtual ActionModel *	clone (RcsGraph *newGraph) const =0
virtual void	computeCommand (MatNd *q_des, MatNd *q_dot_des, MatNd *T_des, const MatNd *action, double dt)=0
virtual void	reset ()
virtual void	getStableAction (MatNd *action) const =0
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
virtual unsigned int	getDim () const =0
virtual void	getMinMax (double *min, double *max) const =0
virtual std::vector< std::string >	getNames () const

Protected Attributes
RcsGraph *	graph

Detailed Description

The ActionModel component encapsulates the translation from the generic action passed from Python to actual joint space commands required by the physics simulation or the robot. Inherits from BoxSpaceProvider to provide a space for valid action values.

Definition at line 57 of file ActionModel.h.

Constructor & Destructor Documentation

ActionModel()

Rcs::ActionModel::ActionModel ( RcsGraph *  graph )

explicit

Constructor

Parameters

graph

graph being commanded

Definition at line 39 of file ActionModel.cpp.

~ActionModel()

Rcs::ActionModel::~ActionModel ( )

virtual

Definition at line 44 of file ActionModel.cpp.

Member Function Documentation

clone() [1/2]

ActionModel* Rcs::ActionModel::clone ( ) const

inline

Create a deep copy of this action model.

Returns

deep copy.

Definition at line 72 of file ActionModel.h.

clone() [2/2]

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

pure 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.

Implemented in Rcs::AMIKGeneric, Rcs::AMIntegrate2ndOrder, Rcs::AMIntegrate1stOrder, Rcs::AMDynamicalSystemActivation, Rcs::AMNormalized, Rcs::AMPlateAngPos, Rcs::AMJointControlAcceleration, Rcs::AMJointControlPosition, and Rcs::AMPlatePos5D.

computeCommand()

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

pure 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.

Implemented in Rcs::AMIKGeneric, Rcs::AMIntegrate2ndOrder, Rcs::AMIntegrate1stOrder, Rcs::AMIKControllerActivation, Rcs::AMDynamicalSystemActivation, Rcs::AMNormalized, Rcs::AMPlateAngPos, Rcs::AMJointControlAcceleration, Rcs::AMPlatePos5D, and Rcs::AMJointControlPosition.

getGraph()

RcsGraph* Rcs::ActionModel::getGraph ( )

inline

Get the graph this action model operates on.

Definition at line 111 of file ActionModel.h.

getStableAction()

virtual void Rcs::ActionModel::getStableAction ( MatNd *  action ) const

pure 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

Implemented in Rcs::AMIKGeneric, Rcs::AMIntegrate2ndOrder, Rcs::AMIntegrate1stOrder, Rcs::AMNormalized, Rcs::AMDynamicalSystemActivation, Rcs::AMIKControllerActivation, Rcs::AMPlateAngPos, Rcs::AMJointControlAcceleration, Rcs::AMPlatePos5D, and Rcs::AMJointControlPosition.

getWrappedActionModel()

ActionModel * Rcs::ActionModel::getWrappedActionModel ( ) const

virtual

If this ActionModel is a wrapper for another action model, return the wrapped action model. Otherwise, return NULL.

Returns

wrapped action model or NULL if none.

Reimplemented in Rcs::AMIntegrate2ndOrder, Rcs::AMIntegrate1stOrder, Rcs::AMDynamicalSystemActivation, and Rcs::AMNormalized.

Definition at line 54 of file ActionModel.cpp.

reset()

void Rcs::ActionModel::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 in Rcs::AMIntegrate2ndOrder, Rcs::AMIntegrate1stOrder, Rcs::AMNormalized, Rcs::AMDynamicalSystemActivation, Rcs::ActionModelIK, Rcs::AMIKControllerActivation, and Rcs::AMPlateAngPos.

Definition at line 49 of file ActionModel.cpp.

setGraph()

void Rcs::ActionModel::setGraph ( RcsGraph *  newGraph )

inline

Definition at line 113 of file ActionModel.h.

unwrap() [1/2]

template<typename AM >

const AM* Rcs::ActionModel::unwrap ( ) const

inline

Find action model of a specific type in the wrapper chain.

Template Parameters

AM	type of action model to locate

Returns

typed action model or if not found.

Definition at line 142 of file ActionModel.h.

unwrap() [2/2]

template<typename AM >

AM* Rcs::ActionModel::unwrap ( )

inline

Find action model of a specific type in the wrapper chain.

Template Parameters

AM	type of action model to locate

Returns

typed action model or if not found.

Definition at line 170 of file ActionModel.h.

unwrapAll() [1/2]

const ActionModel * Rcs::ActionModel::unwrapAll

(

)

const

Descend the wrapper chain to it's end. Returns this action model if unwrap() returns NULL.

Returns

innermost action model

Definition at line 60 of file ActionModel.cpp.

unwrapAll() [2/2]

ActionModel * Rcs::ActionModel::unwrapAll

(

)

Descend the wrapper chain to it's end. Returns this action model if unwrap() returns NULL.

Returns

innermost action model

Definition at line 76 of file ActionModel.cpp.

Member Data Documentation

graph

RcsGraph* Rcs::ActionModel::graph

protected

Definition at line 194 of file ActionModel.h.

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

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