[interface] Abstract base class to encapsulate a local controller. If not specified, method is not multi-thread safe. See Controller Concepts. [詳細]
#include <controller.h>
Public メソッド | |
ControllerBase (EnvironmentBasePtr penv) | |
virtual | ~ControllerBase () |
virtual bool | Init (RobotBasePtr robot, const std::vector< int > &dofindices, int nControlTransformation)=0 |
initializes the controller and specifies the controlled dof | |
virtual const std::vector< int > & | GetControlDOFIndices () const =0 |
returns the dof indices controlled | |
virtual int | IsControlTransformation () const =0 |
returns non-zero value if base affine transformation is controlled. | |
virtual RobotBasePtr | GetRobot () const =0 |
virtual void | Reset (int options=0)=0 |
Resets the current controller trajectories and any other state associated with the robot. | |
virtual bool | SetDesired (const std::vector< dReal > &values, TransformConstPtr trans=TransformConstPtr())=0 |
go to a specific position in configuration space. [multi-thread safe] | |
virtual bool | SetPath (TrajectoryBaseConstPtr ptraj)=0 |
Follow a path in configuration space, adds to the queue of trajectories already in execution. [multi-thread safe] | |
virtual void | SimulationStep (dReal fTimeElapsed)=0 |
Simulate one step forward for controllers running in the simulation environment. | |
virtual bool | IsDone ()=0 |
Return true when goal reached. | |
virtual dReal | GetTime () const OPENRAVE_DUMMY_IMPLEMENTATION |
return the time along the current command | |
virtual void | GetVelocity (std::vector< dReal > &vel) const OPENRAVE_DUMMY_IMPLEMENTATION |
get velocity of the controlled DOFs | |
virtual void | GetTorque (std::vector< dReal > &torque) const OPENRAVE_DUMMY_IMPLEMENTATION |
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InterfaceBase (InterfaceType type, EnvironmentBasePtr penv) | |
virtual | ~InterfaceBase () |
InterfaceType | GetInterfaceType () const |
const std::string & | GetXMLId () const |
const std::string & | GetPluginName () const |
EnvironmentBasePtr | GetEnv () const |
const READERSMAP & | GetReadableInterfaces () const |
Returns the raw map reference, this is not multithread safe and the GetInterfaceMutex should be locked before using. | |
virtual XMLReadablePtr | GetReadableInterface (const std::string &xmltag) const |
Returns the readable interface. [multi-thread safe] | |
virtual XMLReadablePtr | SetReadableInterface (const std::string &xmltag, XMLReadablePtr readable) |
Set a new readable interface and return the previously set interface if it exists. [multi-thread safe] | |
virtual const std::string & | GetDescription () const |
Documentation of the interface in reStructuredText format. See Documenting Interfaces. [multi-thread safe] | |
virtual void | SetDescription (const std::string &description) |
sets a description [multi-thread safe] | |
virtual void | SetUserData (const std::string &key, UserDataPtr data) const |
set user data for a specific key. [multi-thread safe] | |
virtual UserDataPtr | GetUserData (const std::string &key=std::string()) const |
return the user custom data [multi-thread safe] | |
virtual bool | RemoveUserData (const std::string &key) const |
removes a user data pointer. if user data pointer does not exist, then return 0, otherwise 1. [multi-thread safe] | |
virtual void | SetUserData (UserDataPtr data) RAVE_DEPRECATED |
virtual const std::string & | GetURI () const |
the URI used to load the interface (sometimes this is not possible if the definition lies inside an environment file). [multi-thread safe] | |
virtual const std::string & | GetXMLFilename () const |
virtual void | Clone (InterfaceBaseConstPtr preference, int cloningoptions) |
Clone the contents of an interface to the current interface. | |
virtual bool | SendCommand (std::ostream &os, std::istream &is) |
Used to send special commands to the interface and receive output. | |
virtual void | Serialize (BaseXMLWriterPtr writer, int options=0) const |
serializes the interface | |
Static Public メソッド | |
static InterfaceType | GetInterfaceTypeStatic () |
return the static interface type this class points to (used for safe casting) | |
Additional Inherited Members | |
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typedef std::map< std::string, XMLReadablePtr, CaseInsensitiveCompare > | READERSMAP |
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typedef boost::function< bool(std::ostream &, std::istream &)> | InterfaceCommandFn |
The function to be executed for every command. | |
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virtual void | RegisterCommand (const std::string &cmdname, InterfaceCommandFn fncmd, const std::string &strhelp) |
Registers a command and its help string. [multi-thread safe] | |
virtual void | UnregisterCommand (const std::string &cmdname) |
Unregisters the command. [multi-thread safe] | |
virtual boost::shared_mutex & | GetInterfaceMutex () const |
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std::string | __description |
[interface] Abstract base class to encapsulate a local controller. If not specified, method is not multi-thread safe. See Controller Concepts.
controller.h の 30 行で定義されています。
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inline |
controller.h の 33 行で定義されています。
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inlinevirtual |
controller.h の 35 行で定義されています。
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pure virtual |
returns the dof indices controlled
OpenRAVE::MultiController, と cppexamples::CustomControllerで実装されています。
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inlinestatic |
return the static interface type this class points to (used for safe casting)
controller.h の 39 行で定義されています。
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pure virtual |
cppexamples::CustomController, と OpenRAVE::MultiControllerで実装されています。
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virtual |
return the time along the current command
OpenRAVE::MultiController, と cppexamples::CustomControllerで再定義されています。
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virtual |
get torque/current/strain values
torque | [out] - returns the current torque/current/strain exerted by each of the dofs from outside forces. The feedforward and friction terms should be subtracted out already |
OpenRAVE::MultiControllerで再定義されています。
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virtual |
get velocity of the controlled DOFs
vel | [out] - current velocity of robot from the dof |
OpenRAVE::MultiControllerで再定義されています。
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pure virtual |
initializes the controller and specifies the controlled dof
robot | the robot that uses the controller |
dofindices | the indices that controller will have exclusive access to |
nControlTransformation |
OpenRAVE::MultiController, と cppexamples::CustomControllerで実装されています。
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pure virtual |
returns non-zero value if base affine transformation is controlled.
Only one controller can modify translation and orientation per robot. For now, the two cannot be divided.
OpenRAVE::MultiController, と cppexamples::CustomControllerで実装されています。
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pure virtual |
Return true when goal reached.
If a trajectory was set, return only when trajectory is done. If SetDesired was called, return only when robot is is at the desired location. If SendCommand sent, returns true when the command was completed by the hand.
OpenRAVE::MultiController, と cppexamples::CustomControllerで実装されています。
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pure virtual |
Resets the current controller trajectories and any other state associated with the robot.
options | - specific options that can be used to control what to reset |
OpenRAVE::MultiController, と cppexamples::CustomControllerで実装されています。
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pure virtual |
go to a specific position in configuration space. [multi-thread safe]
values | the final configuration in the control dofs |
trans | the transformation of the base. If not specified will use the current robot transformation. Ignored if controller does not use it |
OpenRAVE::MultiController, と cppexamples::CustomControllerで実装されています。
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pure virtual |
Follow a path in configuration space, adds to the queue of trajectories already in execution. [multi-thread safe]
ptraj | - the trajectory |
OpenRAVE::MultiController, と cppexamples::CustomControllerで実装されています。
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pure virtual |
Simulate one step forward for controllers running in the simulation environment.
fTimeElapsed | - time elapsed in simulation environment since last frame |
OpenRAVE::MultiController, と cppexamples::CustomControllerで実装されています。