Rcs::ECBallOnPlate Class Reference

Inheritance diagram for Rcs::ECBallOnPlate:

Collaboration diagram for Rcs::ECBallOnPlate:

Private Member Functions
virtual ActionModel *	createActionModel ()
virtual ObservationModel *	createObservationModel ()
virtual void	populatePhysicsParameters (PhysicsParameterManager *manager)
virtual InitStateSetter *	createInitStateSetter ()
virtual ForceDisturber *	createForceDisturber ()
virtual void	initViewer (Rcs::Viewer *viewer)
void	getHUDText (std::vector< std::string > &linesOut, double currentTime, const MatNd *obs, const MatNd *currentAction, PhysicsBase *simulator, PhysicsParameterManager *physicsManager, ForceDisturber *forceDisturber) override

Private Attributes
double	initManipulability

Additional Inherited Members
Public Types inherited from Rcs::ExperimentConfig
typedef ExperimentConfig *(*	ExperimentConfigCreateFunction) ()
Public Member Functions inherited from Rcs::ExperimentConfig
	ExperimentConfig ()
virtual	~ExperimentConfig ()
PhysicsParameterManager *	createPhysicsParameterManager ()
std::string	getHUDText (double currentTime, const MatNd *currentObservation, const MatNd *currentAction, PhysicsBase *simulator, PhysicsParameterManager *physicsManager, ForceDisturber *forceDisturber)
Static Public Member Functions inherited from Rcs::ExperimentConfig
static void	registerType (const char *name, ExperimentConfigCreateFunction creator)
static ExperimentConfig *	create (PropertySource *properties)
Public Attributes inherited from Rcs::ExperimentConfig
PropertySource *	properties
RcsGraph *	graph
ActionModel *	actionModel
ObservationModel *	observationModel
RcsCollisionMdl *	collisionMdl
double	dt
bool	checkJointLimits
Protected Member Functions inherited from Rcs::ExperimentConfig
virtual void	load (PropertySource *properties)

Detailed Description

Definition at line 68 of file ECBallOnPlate.cpp.

Member Function Documentation

createActionModel()

virtual ActionModel* Rcs::ECBallOnPlate::createActionModel ( )

inlineprivatevirtual

Create the action model. Read any configuration from this->properties.

Returns

the new action model

Implements Rcs::ExperimentConfig.

Definition at line 72 of file ECBallOnPlate.cpp.

createForceDisturber()

virtual ForceDisturber* Rcs::ECBallOnPlate::createForceDisturber ( )

inlineprivatevirtual

Create a model for artificial external disturbing forces. The default implementation returns NULL to ignore this.

Returns

the new force disturber

Reimplemented from Rcs::ExperimentConfig.

Definition at line 185 of file ECBallOnPlate.cpp.

createInitStateSetter()

virtual InitStateSetter* Rcs::ECBallOnPlate::createInitStateSetter ( )

inlineprivatevirtual

Create the init state setter. Read any configuration from this->properties. Since the init state setter is only needed for the simulation, it is not stored in the ExperimentConfig. Instead, the simulation calls this method and manages the object on it's own. The default implementation returns NULL to use the state from the graph file.

Returns

the new init state setter

Reimplemented from Rcs::ExperimentConfig.

Definition at line 180 of file ECBallOnPlate.cpp.

createObservationModel()

virtual ObservationModel* Rcs::ECBallOnPlate::createObservationModel ( )

inlineprivatevirtual

Create the observation model. Read any configuration from this->properties.

Returns

the new observation model

Implements Rcs::ExperimentConfig.

Definition at line 126 of file ECBallOnPlate.cpp.

getHUDText()

void Rcs::ECBallOnPlate::getHUDText ( std::vector< std::string > &  linesOut, double  currentTime, const MatNd *  currentObservation, const MatNd *  currentAction, PhysicsBase *  simulator, PhysicsParameterManager *  physicsManager, ForceDisturber *  forceDisturber  )

inlineoverrideprivatevirtual

Called to update the HUD text for the viewer. The default implementation will show the physics engine name, the current time.

Parameters

[out]	linesOut	vector of HUD lines. initially empty.
[in]	currentTime	simulation time
[in]	currentObservation	latest observation
[in]	currentAction	latest action
[in]	simulator	physics simulator or NULL if none
[in]	physicsManager	physics parameter manager or NULL if none
[in]	forceDisturber	distruber which applies the forces to a given body

Returns

concatenated HUD lines

Reimplemented from Rcs::ExperimentConfig.

Definition at line 255 of file ECBallOnPlate.cpp.

initViewer()

virtual void Rcs::ECBallOnPlate::initViewer ( Rcs::Viewer *  viewer )

inlineprivatevirtual

Perform additional initialization on the viewer. This could, for example, change the camera position or add additional visualization. The default implementation does nothing.

Reimplemented from Rcs::ExperimentConfig.

Definition at line 192 of file ECBallOnPlate.cpp.

populatePhysicsParameters()

virtual void Rcs::ECBallOnPlate::populatePhysicsParameters ( PhysicsParameterManager *  manager )

inlineprivatevirtual

Add the physics parameter descriptors to the given physics parameter manager.

Parameters

manager

parameter manager to populate.

Reimplemented from Rcs::ExperimentConfig.

Definition at line 172 of file ECBallOnPlate.cpp.

Member Data Documentation

initManipulability

double Rcs::ECBallOnPlate::initManipulability

private

Definition at line 70 of file ECBallOnPlate.cpp.

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

• src/cpp/core/ECBallOnPlate.cpp