Rcs::ECQuanserQube Class Reference

Inheritance diagram for Rcs::ECQuanserQube:

Collaboration diagram for Rcs::ECQuanserQube:

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

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 66 of file ECQuanserQube.cpp.

Member Function Documentation

createActionModel()

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

inlineprivatevirtual

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

Returns

the new action model

V_m_max = 5 V and theta_dot_0 = 0 rad/s tau_max = k_m (V_m_max - k_m * theta_dot_0) / R_m = 0.04375 Nm J = m * l^2 / 12 = 0.000033282 kg m^2 alpha_ddot_max = tau_max / J = 1314.52 rad/s^2

Implements Rcs::ExperimentConfig.

Definition at line 68 of file ECQuanserQube.cpp.

createForceDisturber()

virtual ForceDisturber* Rcs::ECQuanserQube::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 114 of file ECQuanserQube.cpp.

createInitStateSetter()

virtual InitStateSetter* Rcs::ECQuanserQube::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 109 of file ECQuanserQube.cpp.

createObservationModel()

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

inlineprivatevirtual

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

Returns

the new observation model

Implements Rcs::ExperimentConfig.

Definition at line 92 of file ECQuanserQube.cpp.

getHUDText()

void Rcs::ECQuanserQube::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 130 of file ECQuanserQube.cpp.

initViewer()

virtual void Rcs::ECQuanserQube::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 121 of file ECQuanserQube.cpp.

populatePhysicsParameters()

virtual void Rcs::ECQuanserQube::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 99 of file ECQuanserQube.cpp.

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

• src/cpp/core/ECQuanserQube.cpp