RcsPySim
A robot control and simulation library
Public Member Functions | Private Member Functions | Private Attributes | List of all members
Rcs::PolicyComponent Class Reference

#include <PolicyComponent.h>

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Public Member Functions

 PolicyComponent (EntityBase *entity, PropertySource *settings, bool computeJointVelocities=false)
 
virtual ~PolicyComponent ()
 
 RCSPYSIM_NOCOPY_NOMOVE (PolicyComponent) ExperimentConfig *getExperiment() const
 
ControlPolicy * getPolicy () const
 
const MatNd * getObservation () const
 
const MatNd * getAction () const
 
const MatNd * getJointCommandPtr () const
 
RcsGraph * getDesiredGraph () const
 
std::string getStateText () const
 
void setJointLimitCheck (bool jointLimitCheck)
 
void setCollisionCheck (bool collisionCheck)
 

Private Member Functions

void subscribe ()
 
void onUpdatePolicy (const RcsGraph *state)
 
void onInitFromState (const RcsGraph *target)
 
void onEmergencyStop ()
 
void onEmergencyRecover ()
 
void onRender ()
 
void onPrint ()
 
void onPolicyStart ()
 
void onPolicyPause ()
 
void onPolicyReset ()
 
void onGoHome ()
 

Private Attributes

ExperimentConfig * experiment
 
ControlPolicy * policy
 
bool computeJointVelocities
 
bool jointLimitCheck
 
bool collisionCheck
 
RcsCollisionMdl * collisionMdl
 
bool policyActive
 
bool eStop
 
bool eRec
 
bool renderingInitialized
 
MatNd * observation
 
MatNd * action
 
RcsGraph * desiredGraph
 
bool goHome
 
DynamicalSystem * goHomeDS
 
ActionModel * goHomeAM
 
MatNd * T_ctrl
 

Detailed Description

Wraps RcsPySim Experiment and ControlPolicy for use in ECS.

Definition at line 49 of file PolicyComponent.h.

Constructor & Destructor Documentation

◆ PolicyComponent()

Rcs::PolicyComponent::PolicyComponent ( EntityBase *  entity,
PropertySource *  settings,
bool  computeJointVelocities = false 
)

Definition at line 48 of file PolicyComponent.cpp.

◆ ~PolicyComponent()

Rcs::PolicyComponent::~PolicyComponent ( )
virtual

Definition at line 151 of file PolicyComponent.cpp.

Member Function Documentation

◆ getAction()

const MatNd * Rcs::PolicyComponent::getAction ( ) const

Definition at line 413 of file PolicyComponent.cpp.

◆ getDesiredGraph()

RcsGraph * Rcs::PolicyComponent::getDesiredGraph ( ) const

Definition at line 423 of file PolicyComponent.cpp.

◆ getJointCommandPtr()

const MatNd * Rcs::PolicyComponent::getJointCommandPtr ( ) const

Definition at line 418 of file PolicyComponent.cpp.

◆ getObservation()

const MatNd * Rcs::PolicyComponent::getObservation ( ) const

Definition at line 408 of file PolicyComponent.cpp.

◆ getPolicy()

Rcs::ControlPolicy * Rcs::PolicyComponent::getPolicy ( ) const

Definition at line 403 of file PolicyComponent.cpp.

◆ getStateText()

std::string Rcs::PolicyComponent::getStateText ( ) const

Definition at line 376 of file PolicyComponent.cpp.

◆ onEmergencyRecover()

void Rcs::PolicyComponent::onEmergencyRecover ( )
private

Definition at line 306 of file PolicyComponent.cpp.

◆ onEmergencyStop()

void Rcs::PolicyComponent::onEmergencyStop ( )
private

Definition at line 298 of file PolicyComponent.cpp.

◆ onGoHome()

void Rcs::PolicyComponent::onGoHome ( )
private

Definition at line 344 of file PolicyComponent.cpp.

◆ onInitFromState()

void Rcs::PolicyComponent::onInitFromState ( const RcsGraph *  target)
private

Definition at line 274 of file PolicyComponent.cpp.

◆ onPolicyPause()

void Rcs::PolicyComponent::onPolicyPause ( )
private

Definition at line 333 of file PolicyComponent.cpp.

◆ onPolicyReset()

void Rcs::PolicyComponent::onPolicyReset ( )
private

Definition at line 339 of file PolicyComponent.cpp.

◆ onPolicyStart()

void Rcs::PolicyComponent::onPolicyStart ( )
private

Definition at line 317 of file PolicyComponent.cpp.

◆ onPrint()

void Rcs::PolicyComponent::onPrint ( )
private

Definition at line 392 of file PolicyComponent.cpp.

◆ onRender()

void Rcs::PolicyComponent::onRender ( )
private

Definition at line 360 of file PolicyComponent.cpp.

◆ onUpdatePolicy()

void Rcs::PolicyComponent::onUpdatePolicy ( const RcsGraph *  state)
private

Definition at line 186 of file PolicyComponent.cpp.

◆ RCSPYSIM_NOCOPY_NOMOVE()

Rcs::PolicyComponent::RCSPYSIM_NOCOPY_NOMOVE ( PolicyComponent  ) const

◆ setCollisionCheck()

void Rcs::PolicyComponent::setCollisionCheck ( bool  collisionCheck)

Definition at line 433 of file PolicyComponent.cpp.

◆ setJointLimitCheck()

void Rcs::PolicyComponent::setJointLimitCheck ( bool  jointLimitCheck)

Definition at line 428 of file PolicyComponent.cpp.

◆ subscribe()

void Rcs::PolicyComponent::subscribe ( )
private

Definition at line 171 of file PolicyComponent.cpp.

Member Data Documentation

◆ action

MatNd* Rcs::PolicyComponent::action
private

Definition at line 133 of file PolicyComponent.h.

◆ collisionCheck

bool Rcs::PolicyComponent::collisionCheck
private

Definition at line 116 of file PolicyComponent.h.

◆ collisionMdl

RcsCollisionMdl* Rcs::PolicyComponent::collisionMdl
private

Definition at line 119 of file PolicyComponent.h.

◆ computeJointVelocities

bool Rcs::PolicyComponent::computeJointVelocities
private

Definition at line 111 of file PolicyComponent.h.

◆ desiredGraph

RcsGraph* Rcs::PolicyComponent::desiredGraph
private

Definition at line 136 of file PolicyComponent.h.

◆ eRec

bool Rcs::PolicyComponent::eRec
private

Definition at line 126 of file PolicyComponent.h.

◆ eStop

bool Rcs::PolicyComponent::eStop
private

Definition at line 124 of file PolicyComponent.h.

◆ experiment

ExperimentConfig* Rcs::PolicyComponent::experiment
private

Definition at line 106 of file PolicyComponent.h.

◆ goHome

bool Rcs::PolicyComponent::goHome
private

Definition at line 139 of file PolicyComponent.h.

◆ goHomeAM

ActionModel* Rcs::PolicyComponent::goHomeAM
private

Definition at line 141 of file PolicyComponent.h.

◆ goHomeDS

DynamicalSystem* Rcs::PolicyComponent::goHomeDS
private

Definition at line 140 of file PolicyComponent.h.

◆ jointLimitCheck

bool Rcs::PolicyComponent::jointLimitCheck
private

Definition at line 114 of file PolicyComponent.h.

◆ observation

MatNd* Rcs::PolicyComponent::observation
private

Definition at line 132 of file PolicyComponent.h.

◆ policy

ControlPolicy* Rcs::PolicyComponent::policy
private

Definition at line 108 of file PolicyComponent.h.

◆ policyActive

bool Rcs::PolicyComponent::policyActive
private

Definition at line 122 of file PolicyComponent.h.

◆ renderingInitialized

bool Rcs::PolicyComponent::renderingInitialized
private

Definition at line 128 of file PolicyComponent.h.

◆ T_ctrl

MatNd* Rcs::PolicyComponent::T_ctrl
private

Definition at line 144 of file PolicyComponent.h.

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