Rcs::OMBallPos Class Reference

#include <OMBallPos.h>

Inheritance diagram for Rcs::OMBallPos:

Collaboration diagram for Rcs::OMBallPos:

Public Member Functions
	OMBallPos (RcsGraph *graph)
virtual	~OMBallPos ()
virtual void	computeObservation (double *state, double *velocity, const MatNd *currentAction, double dt) const
virtual void	reset ()
Public Member Functions inherited from Rcs::OMBodyStateLinear
	OMBodyStateLinear (RcsGraph *graph, const char *effectorName, const char *refBodyName=NULL, const char *refFrameName=NULL)
Public Member Functions inherited from Rcs::OMTask
	OMTask (Task *task)
virtual	~OMTask ()
	OMTask (const OMTask &)=delete
OMTask &	operator= (const OMTask &)=delete
	OMTask (OMTask &&)=delete
OMTask &	operator= (OMTask &&)=delete
virtual unsigned int	getStateDim () const
virtual void	getLimits (double *minState, double *maxState, double *maxVelocity) const
virtual std::vector< std::string >	getStateNames () const
OMTask *	setMinState (double minState)
OMTask *	setMinState (std::vector< double > minState)
OMTask *	setMaxState (double maxState)
OMTask *	setMaxState (std::vector< double > maxState)
OMTask *	setMaxVelocity (double maxVelocity)
OMTask *	setMaxVelocity (std::vector< double > maxVelocity)
Task *	getTask () const
Public Member Functions inherited from Rcs::ObservationModel
virtual	~ObservationModel ()
MatNd *	computeObservation (const MatNd *currentAction, double dt) const
void	computeObservation (MatNd *observation, const MatNd *currentAction, double dt) const
virtual unsigned int	getVelocityDim () const
virtual std::vector< std::string >	getVelocityNames () const
virtual void	getMinMax (double *min, double *max) const final
virtual unsigned int	getDim () const final
virtual std::vector< std::string >	getNames () const final
template<typename OM >
OM *	findModel ()
template<typename OM >
Offsets	findOffsets ()
virtual std::vector< ObservationModel * >	getNested () const
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

Private Attributes
double	ballRadius

Additional Inherited Members
Protected Member Functions inherited from Rcs::OMTask
void	initTaskBodyNames (const char *effectorName, const char *refBodyName, const char *refFrameName)

Detailed Description

Observes the ball position relative to the plate.

This is a special case that removes the ball's radius from it's z position, making the observation invariant of a (changing) ball radius.

Definition at line 45 of file OMBallPos.h.

Constructor & Destructor Documentation

OMBallPos()

Rcs::OMBallPos::OMBallPos

(

RcsGraph *

graph

)

Constructor.

The passed graph must contain two bodies named "Ball" and "Plate".

Parameters

graph

graph to observe.

Definition at line 39 of file OMBallPos.cpp.

~OMBallPos()

Rcs::OMBallPos::~OMBallPos ( )

virtual

Definition at line 66 of file OMBallPos.cpp.

Member Function Documentation

computeObservation()

void Rcs::OMBallPos::computeObservation ( double *  state, double *  velocity, const MatNd *  currentAction, double  dt  ) const

virtual

Implement to fill the observation vector with the observed values.

Parameters

[out]	state	state observation vector to fill, has getStateDim() elements.
[out]	velocity	velocity observation vector to fill, has getVelocityDim() elements.
[in]	currentAction	action in current step. May be NULL if not available.
[in]	dt	time step since the last observation has been taken

Reimplemented from Rcs::OMTask.

Definition at line 71 of file OMBallPos.cpp.

reset()

void Rcs::OMBallPos::reset ( )

virtual

Reset any internal state. This is called to begin a new episode. It should also reset values depending on modifiable physics parameters. This is an optional operation, so the default implementation does nothing.

Reimplemented from Rcs::ObservationModel.

Definition at line 78 of file OMBallPos.cpp.

Member Data Documentation

ballRadius

double Rcs::OMBallPos::ballRadius

private

Definition at line 65 of file OMBallPos.h.

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

• src/cpp/core/observation/OMBallPos.h
• src/cpp/core/observation/OMBallPos.cpp