Rcs::OMJointState Class Reference

#include <OMJointState.h>

Inheritance diagram for Rcs::OMJointState:

Collaboration diagram for Rcs::OMJointState:

Public Member Functions
	OMJointState (RcsGraph *graph, const char *jointName, bool wrapJointAngle)
	OMJointState (RcsGraph *graph, const char *jointName)
virtual	~OMJointState ()
virtual unsigned int	getStateDim () const
virtual unsigned int	getVelocityDim () const
virtual void	computeObservation (double *state, double *velocity, const MatNd *currentAction, double dt) const
virtual void	getLimits (double *minState, double *maxState, double *maxVelocity) const
virtual std::vector< std::string >	getStateNames () 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 void	reset ()
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

Static Public Member Functions
static ObservationModel *	observeAllJoints (RcsGraph *graph)
static ObservationModel *	observeUnconstrainedJoints (RcsGraph *graph)

Private Member Functions
	OMJointState (RcsGraph *graph, RcsJoint *joint)

Private Attributes
RcsGraph *	graph
RcsJoint *	joint
bool	wrapJointAngle

Detailed Description

Observes joint positions and velocities for a single joint.

Definition at line 42 of file OMJointState.h.

Constructor & Destructor Documentation

OMJointState() [1/3]

Rcs::OMJointState::OMJointState	(	RcsGraph *	graph,
		const char *	jointName,
		bool	wrapJointAngle
	)

Constructor

Parameters

graph	graph to observe
jointName	name of joint to observe
wrapJointAngle	whether to wrap the state of a rotational joint into the [-pi, pi] range. Use for unlimited rotation joints.

Definition at line 54 of file OMJointState.cpp.

OMJointState() [2/3]

Rcs::OMJointState::OMJointState	(	RcsGraph *	graph,
		const char *	jointName
	)

Constructor Decides to wrap the joint angle if the joint's movement range is exactly [-pi, pi].

Parameters

graph	graph to observe
jointName	name of joint to observe

Definition at line 70 of file OMJointState.cpp.

~OMJointState()

Rcs::OMJointState::~OMJointState ( )

virtual

Definition at line 82 of file OMJointState.cpp.

OMJointState() [3/3]

Rcs::OMJointState::OMJointState ( RcsGraph *  graph, RcsJoint *  joint  )

private

Definition at line 75 of file OMJointState.cpp.

Member Function Documentation

computeObservation()

void Rcs::OMJointState::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

Implements Rcs::ObservationModel.

Definition at line 98 of file OMJointState.cpp.

getLimits()

void Rcs::OMJointState::getLimits ( double *  minState, double *  maxState, double *  maxVelocity  ) const

virtual

Provides the minimum and maximum observable values. Since the velocity is symmetric, only the maximum needs to be provided. The default implementation uses -inf and inf.

Parameters

[out]	minState	minimum state vector to fill, has getStateDim() elements.
[out]	maxState	maximum state vector to fill, has getStateDim() elements.
[out]	maxVelocity	maximum velocity vector to fill, has getVelocityDim() elements.

Reimplemented from Rcs::ObservationModel.

Definition at line 108 of file OMJointState.cpp.

getStateDim()

unsigned int Rcs::OMJointState::getStateDim ( ) const

virtual

The number of state variables.

Implements Rcs::ObservationModel.

Definition at line 88 of file OMJointState.cpp.

getStateNames()

std::vector< std::string > Rcs::OMJointState::getStateNames ( ) const

virtual

Provides names for each state entry.

Returns

a vector of name strings. Must be of length getStateDim() or empty for a nameless space.

Reimplemented from Rcs::ObservationModel.

Definition at line 116 of file OMJointState.cpp.

getVelocityDim()

unsigned int Rcs::OMJointState::getVelocityDim ( ) const

virtual

The number of velocity variables. The default implementation assumes that for each state there is a velocity.

Reimplemented from Rcs::ObservationModel.

Reimplemented in Rcs::OMJointStatePositions.

Definition at line 93 of file OMJointState.cpp.

observeAllJoints()

ObservationModel * Rcs::OMJointState::observeAllJoints ( RcsGraph *  graph )

static

Definition at line 121 of file OMJointState.cpp.

observeUnconstrainedJoints()

ObservationModel * Rcs::OMJointState::observeUnconstrainedJoints ( RcsGraph *  graph )

static

Definition at line 130 of file OMJointState.cpp.

Member Data Documentation

graph

RcsGraph* Rcs::OMJointState::graph

private

Definition at line 85 of file OMJointState.h.

joint

RcsJoint* Rcs::OMJointState::joint

private

Definition at line 87 of file OMJointState.h.

wrapJointAngle

bool Rcs::OMJointState::wrapJointAngle

private

Definition at line 89 of file OMJointState.h.

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

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