#include <ExperimentConfig.h>

Inheritance diagram for Rcs::ExperimentConfig:

[legend]

Collaboration diagram for Rcs::ExperimentConfig:

[legend]

Public Types
typedef ExperimentConfig (	ExperimentConfigCreateFunction) ()

Public Member Functions
	ExperimentConfig ()

virtual	~ExperimentConfig ()

virtual ActionModel *	createActionModel ()=0

virtual ObservationModel *	createObservationModel ()=0

virtual InitStateSetter *	createInitStateSetter ()

virtual ForceDisturber *	createForceDisturber ()

PhysicsParameterManager *	createPhysicsParameterManager ()

virtual void	populatePhysicsParameters (PhysicsParameterManager *manager)

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

std::string	getHUDText (double currentTime, const MatNd currentObservation, const MatNd currentAction, PhysicsBase simulator, PhysicsParameterManager physicsManager, ForceDisturber *forceDisturber)

virtual void	initViewer (Rcs::Viewer *viewer)

Static Public Member Functions
static void	registerType (const char *name, ExperimentConfigCreateFunction creator)

static ExperimentConfig *	create (PropertySource *properties)

Public Attributes
PropertySource *	properties

RcsGraph *	graph

ActionModel *	actionModel

ObservationModel *	observationModel

RcsCollisionMdl *	collisionMdl

double	dt

bool	checkJointLimits

Protected Member Functions
virtual void	load (PropertySource *properties)

Detailed Description

Defines the experiment setup. There should be one subclass per experiment type, IE BallOnPlate or QuanserQube.

Definition at line 72 of file ExperimentConfig.h.

Member Typedef Documentation

◆ ExperimentConfigCreateFunction

typedef ExperimentConfig*(* Rcs::ExperimentConfig::ExperimentConfigCreateFunction) ()

Definition at line 77 of file ExperimentConfig.h.

Constructor & Destructor Documentation

◆ ExperimentConfig()

Rcs::ExperimentConfig::ExperimentConfig ( )

Definition at line 191 of file ExperimentConfig.cpp.

◆ ~ExperimentConfig()

Rcs::ExperimentConfig::~ExperimentConfig ( )

virtual

Definition at line 199 of file ExperimentConfig.cpp.

Member Function Documentation

◆ create()

ExperimentConfig * Rcs::ExperimentConfig::create ( PropertySource * properties )

static

Create the experiment configuration from the given property source. This will load the "type" property, use that to select a ExperimentConfig implementation, and then call init() to populate it.

Parameters

properties property source to read configuration from. Takes ownership, even on error.

Returns: a new experiment config object.

Definition at line 152 of file ExperimentConfig.cpp.

◆ createActionModel()

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

pure virtual

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

Returns: the new action model

Implemented in Rcs::ECPlanar3Link, Rcs::ECPlanarInsert, Rcs::ECBoxLifting, Rcs::ECMiniGolf, Rcs::ECBallInTube, Rcs::ECBoxShelving, Rcs::ECBallOnPlate, Rcs::ECMPblending, and Rcs::ECQuanserQube.

◆ createForceDisturber()

ForceDisturber * Rcs::ExperimentConfig::createForceDisturber ( )

virtual

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

Returns: the new force disturber

Reimplemented in Rcs::ECBallInTube, Rcs::ECBoxLifting, Rcs::ECPlanar3Link, Rcs::ECBoxShelving, Rcs::ECPlanarInsert, Rcs::ECMPblending, Rcs::ECBallOnPlate, and Rcs::ECQuanserQube.

Definition at line 301 of file ExperimentConfig.cpp.

◆ createInitStateSetter()

InitStateSetter * Rcs::ExperimentConfig::createInitStateSetter ( )

virtual

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 in Rcs::ECBallInTube, Rcs::ECBoxLifting, Rcs::ECPlanar3Link, Rcs::ECBoxShelving, Rcs::ECPlanarInsert, Rcs::ECMiniGolf, Rcs::ECMPblending, Rcs::ECBallOnPlate, and Rcs::ECQuanserQube.

Definition at line 295 of file ExperimentConfig.cpp.

◆ createObservationModel()

ObservationModel * Rcs::ExperimentConfig::createObservationModel ( )

pure virtual

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

Returns: the new observation model

Implemented in Rcs::ECBallInTube, Rcs::ECBoxLifting, Rcs::ECPlanar3Link, Rcs::ECBoxShelving, Rcs::ECPlanarInsert, Rcs::ECMPblending, Rcs::ECMiniGolf, Rcs::ECBallOnPlate, and Rcs::ECQuanserQube.

Definition at line 289 of file ExperimentConfig.cpp.

◆ createPhysicsParameterManager()

PhysicsParameterManager * Rcs::ExperimentConfig::createPhysicsParameterManager ( )

Create the physics parameter manager. Read any configuration from this->properties. Since the physics parameter manager 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. This method calls populatePhysicsParameters to populate the parameter descriptors.

Returns: the new physics parameter manager

Definition at line 307 of file ExperimentConfig.cpp.

◆ getHUDText() [1/2]

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

virtual

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 in Rcs::ECBallInTube, Rcs::ECBoxLifting, Rcs::ECPlanar3Link, Rcs::ECBoxShelving, Rcs::ECPlanarInsert, Rcs::ECMiniGolf, Rcs::ECBallOnPlate, Rcs::ECMPblending, and Rcs::ECQuanserQube.

Definition at line 347 of file ExperimentConfig.cpp.

◆ getHUDText() [2/2]

std::string Rcs::ExperimentConfig::getHUDText	(	double	currentTime,
		const MatNd *	currentObservation,
		const MatNd *	currentAction,
		PhysicsBase *	simulator,
		PhysicsParameterManager *	physicsManager,
		ForceDisturber *	forceDisturber
	)

Returns the concatenated HUD lines.

Parameters

[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

Definition at line 370 of file ExperimentConfig.cpp.

◆ initViewer()

void Rcs::ExperimentConfig::initViewer ( Rcs::Viewer * viewer )

virtual

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

Reimplemented in Rcs::ECBallInTube, Rcs::ECBoxLifting, Rcs::ECPlanar3Link, Rcs::ECBoxShelving, Rcs::ECPlanarInsert, Rcs::ECMiniGolf, Rcs::ECMPblending, Rcs::ECBallOnPlate, and Rcs::ECQuanserQube.

Definition at line 337 of file ExperimentConfig.cpp.

◆ load()

void Rcs::ExperimentConfig::load ( PropertySource * properties )

protectedvirtual

Called to load data from the given properties. You can override this to load additional data, but be sure to call the parent implementation.

Parameters

properties property source to read configuration from. Takes ownership.

Definition at line 213 of file ExperimentConfig.cpp.

◆ populatePhysicsParameters()

void Rcs::ExperimentConfig::populatePhysicsParameters ( PhysicsParameterManager * manager )

virtual

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

Parameters

manager parameter manager to populate.

Reimplemented in Rcs::ECBallInTube, Rcs::ECBoxLifting, Rcs::ECPlanar3Link, Rcs::ECBoxShelving, Rcs::ECPlanarInsert, Rcs::ECMiniGolf, Rcs::ECMPblending, Rcs::ECBallOnPlate, and Rcs::ECQuanserQube.

Definition at line 342 of file ExperimentConfig.cpp.

◆ registerType()

void Rcs::ExperimentConfig::registerType	(	const char *	name,
		ExperimentConfig::ExperimentConfigCreateFunction	creator
	)

static

Register a named experiment.

Parameters

name	experiment name
creator	ExperimentConfig factory function

Definition at line 146 of file ExperimentConfig.cpp.

Member Data Documentation

◆ actionModel

ActionModel* Rcs::ExperimentConfig::actionModel

Action model (pluggable)

Definition at line 203 of file ExperimentConfig.h.

◆ checkJointLimits

bool Rcs::ExperimentConfig::checkJointLimits

Flag to enable joint limit checking.

Definition at line 215 of file ExperimentConfig.h.

◆ collisionMdl

RcsCollisionMdl* Rcs::ExperimentConfig::collisionMdl

Collision model to use. Is based on the graph, so take care when using with IK etc.

Definition at line 209 of file ExperimentConfig.h.

◆ dt

double Rcs::ExperimentConfig::dt

The time step [s].

Definition at line 212 of file ExperimentConfig.h.

◆ graph

RcsGraph* Rcs::ExperimentConfig::graph

Graph description.

Definition at line 200 of file ExperimentConfig.h.

◆ observationModel

ObservationModel* Rcs::ExperimentConfig::observationModel

Observation model (pluggable) used to create the observation which will be returned from step()

Definition at line 206 of file ExperimentConfig.h.

◆ properties

PropertySource* Rcs::ExperimentConfig::properties

Property source (owned)

Definition at line 197 of file ExperimentConfig.h.

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

src/cpp/core/ExperimentConfig.h
src/cpp/core/ExperimentConfig.cpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ ExperimentConfigCreateFunction

Constructor & Destructor Documentation

◆ ExperimentConfig()

◆ ~ExperimentConfig()

Member Function Documentation

◆ create()

◆ createActionModel()

◆ createForceDisturber()

◆ createInitStateSetter()

◆ createObservationModel()

◆ createPhysicsParameterManager()

◆ getHUDText() [1/2]

◆ getHUDText() [2/2]

◆ initViewer()

◆ load()

◆ populatePhysicsParameters()

◆ registerType()

Member Data Documentation

◆ actionModel

◆ checkJointLimits

◆ collisionMdl

◆ dt

◆ graph

◆ observationModel

◆ properties