Rcs::RcsPyBot Class Reference

#include <RcsPyBot.h>

Inheritance diagram for Rcs::RcsPyBot:

Collaboration diagram for Rcs::RcsPyBot:

Public Member Functions
	RcsPyBot (PropertySource *propertySource)
virtual	~RcsPyBot ()
	RcsPyBot (const RcsPyBot &)=delete
RcsPyBot &	operator= (const RcsPyBot &)=delete
	RcsPyBot (RcsPyBot &&)=delete
RcsPyBot &	operator= (RcsPyBot &&)=delete
ExperimentConfig *	getConfig ()
void	setControlPolicy (ControlPolicy *controlPolicy, const MatNd *q_des=nullptr)
void	syncGraphsToCurrent ()
ControlPolicy *	getControlPolicy () const
MatNd *	getObservation () const
MatNd *	getAction () const

Public Attributes
DataLogger	logger
Rcs::SecondOrderLPFND *	homePoseFilt

Protected Member Functions
virtual void	updateControl ()

Protected Attributes
std::mutex	controlPolicyMutex
ExperimentConfig *	config
bool	allJointsPosCtrl
ControlPolicy *	controlPolicy
MatNd *	q_ctrl
MatNd *	qd_ctrl
MatNd *	T_ctrl
MatNd *	observation
MatNd *	action

Detailed Description

Definition at line 51 of file RcsPyBot.h.

Constructor & Destructor Documentation

RcsPyBot() [1/3]

Rcs::RcsPyBot::RcsPyBot ( PropertySource *  propertySource )

explicit

Create the bot from the given property source.

Parameters

propertySource

configuration

Definition at line 66 of file RcsPyBot.cpp.

~RcsPyBot()

Rcs::RcsPyBot::~RcsPyBot ( )

virtual

Definition at line 107 of file RcsPyBot.cpp.

RcsPyBot() [2/3]

Rcs::RcsPyBot::RcsPyBot ( const RcsPyBot &  )

delete

RcsPyBot() [3/3]

Rcs::RcsPyBot::RcsPyBot ( RcsPyBot &&  )

delete

Member Function Documentation

getAction()

MatNd * Rcs::RcsPyBot::getAction

(

)

const

Get storage matrix for current action.

WARNING: the contents may update asynchronously. The dimensions are constant.

Definition at line 201 of file RcsPyBot.cpp.

getConfig()

ExperimentConfig* Rcs::RcsPyBot::getConfig ( )

inline

Definition at line 65 of file RcsPyBot.h.

getControlPolicy()

ControlPolicy* Rcs::RcsPyBot::getControlPolicy ( ) const

inline

Definition at line 77 of file RcsPyBot.h.

getObservation()

MatNd * Rcs::RcsPyBot::getObservation

(

)

const

Get storage matrix for current observation.

WARNING: the contents may update asynchronously. The dimensions are constant.

Definition at line 196 of file RcsPyBot.cpp.

operator=() [1/2]

RcsPyBot& Rcs::RcsPyBot::operator= ( RcsPyBot &&  )

delete

operator=() [2/2]

RcsPyBot& Rcs::RcsPyBot::operator= ( const RcsPyBot &  )

delete

setControlPolicy()

void Rcs::RcsPyBot::setControlPolicy	(	ControlPolicy *	controlPolicy,
		const MatNd *	q_des = nullptr
	)

Replace the control policy. This method may be called while the bot is running. Setting controlPolicy tonullptr and q_des to a joint config causes the bot to go to this configuration. Does not take ownership.

Definition at line 129 of file RcsPyBot.cpp.

syncGraphsToCurrent()

void Rcs::RcsPyBot::syncGraphsToCurrent

(

)

Definition at line 206 of file RcsPyBot.cpp.

updateControl()

void Rcs::RcsPyBot::updateControl ( )

protectedvirtual

Definition at line 156 of file RcsPyBot.cpp.

Member Data Documentation

action

MatNd* Rcs::RcsPyBot::action

protected

Definition at line 122 of file RcsPyBot.h.

allJointsPosCtrl

bool Rcs::RcsPyBot::allJointsPosCtrl

protected

Definition at line 111 of file RcsPyBot.h.

config

ExperimentConfig* Rcs::RcsPyBot::config

protected

Experiment configuration.

Definition at line 110 of file RcsPyBot.h.

controlPolicy

ControlPolicy* Rcs::RcsPyBot::controlPolicy

protected

Control policy.

Definition at line 114 of file RcsPyBot.h.

controlPolicyMutex

std::mutex Rcs::RcsPyBot::controlPolicyMutex

mutableprotected

Control policy mutex (mutable to allow using it from const functions)

Definition at line 107 of file RcsPyBot.h.

homePoseFilt

Rcs::SecondOrderLPFND* Rcs::RcsPyBot::homePoseFilt

Filter for going to the home pose.

Definition at line 101 of file RcsPyBot.h.

logger

DataLogger Rcs::RcsPyBot::logger

Data logger.

Definition at line 84 of file RcsPyBot.h.

observation

MatNd* Rcs::RcsPyBot::observation

protected

Definition at line 121 of file RcsPyBot.h.

q_ctrl

MatNd* Rcs::RcsPyBot::q_ctrl

protected

Temporary matrices.

Definition at line 117 of file RcsPyBot.h.

qd_ctrl

MatNd* Rcs::RcsPyBot::qd_ctrl

protected

Definition at line 118 of file RcsPyBot.h.

T_ctrl

MatNd* Rcs::RcsPyBot::T_ctrl

protected

Definition at line 119 of file RcsPyBot.h.

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

• src/cpp/core/RcsPyBot.h
• src/cpp/core/RcsPyBot.cpp