Rcs::ControlPolicy Class Reference

#include <ControlPolicy.h>

Inheritance diagram for Rcs::ControlPolicy:

Public Types
typedef ControlPolicy *(*	ControlPolicyCreateFunction) (const char *)

Public Member Functions
	ControlPolicy ()
virtual	~ControlPolicy ()
virtual void	reset ()
virtual void	computeAction (MatNd *action, const MatNd *observation)=0

Static Public Member Functions
static void	registerType (const char *name, ControlPolicyCreateFunction creator)
static ControlPolicy *	create (const char *name, const char *dataFile)
static ControlPolicy *	create (PropertySource *config)
static std::vector< std::string >	getTypeNames ()

Detailed Description

Base class for a control policy that computes the actions from a given observation vector.

Definition at line 47 of file ControlPolicy.h.

Member Typedef Documentation

ControlPolicyCreateFunction

typedef ControlPolicy*(* Rcs::ControlPolicy::ControlPolicyCreateFunction) (const char *)

Policy factory function. Should read a policy from a file.

Definition at line 53 of file ControlPolicy.h.

Constructor & Destructor Documentation

ControlPolicy()

Rcs::ControlPolicy::ControlPolicy

(

)

Definition at line 95 of file ControlPolicy.cpp.

~ControlPolicy()

Rcs::ControlPolicy::~ControlPolicy ( )

virtual

Definition at line 100 of file ControlPolicy.cpp.

Member Function Documentation

computeAction()

virtual void Rcs::ControlPolicy::computeAction ( MatNd *  action, const MatNd *  observation  )

pure virtual

Compute the action according to the policy.

Parameters

[out]	action	matrix to store the action in
[in]	observation	current observed state

Implemented in Rcs::SimpleControlPolicy, and Rcs::TorchPolicy.

create() [1/2]

ControlPolicy * Rcs::ControlPolicy::create ( const char *  name, const char *  dataFile  )

static

Load a saved policy.

Parameters

[in]	name	policy type name
[in]	dataFile	file to load

Returns

loaded policy

Definition at line 52 of file ControlPolicy.cpp.

create() [2/2]

ControlPolicy * Rcs::ControlPolicy::create ( PropertySource *  config )

static

Load a saved policy defined by the given configuration.

Parameters

[in]

config

property config, containing type and file entries

Returns

loaded policy

Definition at line 77 of file ControlPolicy.cpp.

getTypeNames()

std::vector< std::string > Rcs::ControlPolicy::getTypeNames ( )

static

List available policy names.

Definition at line 86 of file ControlPolicy.cpp.

registerType()

void Rcs::ControlPolicy::registerType ( const char *  name, ControlPolicy::ControlPolicyCreateFunction  creator  )

static

Register a control policy type.

Parameters

[in]	name	policy type name
[in]	creator	factory function

Definition at line 46 of file ControlPolicy.cpp.

reset()

void Rcs::ControlPolicy::reset ( )

virtual

Reset internal state if any. The default implementation does nothing.

Reimplemented in Rcs::TorchPolicy.

Definition at line 105 of file ControlPolicy.cpp.

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

• src/cpp/core/control/ControlPolicy.h
• src/cpp/core/control/ControlPolicy.cpp