RobWorkProject
24.8.23-
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interface of a simulated controller More...
#include <SimulatedController.hpp>
Inherits Stateless.
Inherited by BeamJointController, BodyController, PDController, PoseController, RigidBodyGenerator, SerialDeviceController, SpringJointController, SuctionCupController, SyncPDController, TrajectoryController, and VelRampController.
Public Types | |
typedef rw::core::Ptr< SimulatedController > | Ptr |
smart pointer type of this class | |
Public Types inherited from Stateless | |
typedef rw::core::Ptr< Stateless > | Ptr |
Smart pointer type for Stateless. | |
Public Member Functions | |
virtual std::string | getControllerName ()=0 |
get the name of this controller More... | |
virtual void | update (const rwlibs::simulation::Simulator::UpdateInfo &info, rw::kinematics::State &state)=0 |
updates/steps the controller with time step dt. It will update the state state accordingly More... | |
virtual void | reset (const rw::kinematics::State &state)=0 |
reset the controller to the applied state More... | |
virtual rw::core::Ptr< rwlibs::control::Controller > | getControllerHandle (rw::core::Ptr< rwlibs::simulation::Simulator > sim)=0 |
get the controller handle eg. statefull handle, associated with this simulated controller More... | |
rw::core::Ptr< rw::models::ControllerModel > | getControllerModel () |
get the controllermodel of this simulated controller More... | |
virtual void | setEnabled (bool enabled)=0 |
disable or enable this controller More... | |
virtual bool | isEnabled () const =0 |
true if this controller is enabled More... | |
Public Member Functions inherited from Stateless | |
virtual | ~Stateless () |
destructor | |
virtual void | registerIn (State &state) |
initialize this stateless data to a specific state More... | |
virtual void | registerIn (StateStructure::Ptr state) |
register this stateless object in a statestructure. | |
virtual void | unregister () |
unregisters all state data of this stateless object | |
StateStructure::Ptr | getStateStructure () |
Get the state structure. More... | |
const StateStructure::Ptr | getStateStructure () const |
Get the state structure. More... | |
bool | isRegistered () |
Check if object has registered its state. More... | |
Protected Member Functions | |
SimulatedController (rw::models::ControllerModel::Ptr model) | |
Constructor. More... | |
Protected Member Functions inherited from Stateless | |
Stateless () | |
constructor | |
template<class T > | |
void | add (StatelessData< T > &data) |
implementations of sensor should add all their stateless data on initialization | |
void | add (StateData *data) |
Add data. More... | |
void | add (rw::core::Ptr< StateData > data) |
implementations of sensor should add all their state data on initialization | |
Additional Inherited Members | |
Protected Attributes inherited from Stateless | |
bool | _registered |
True if object has registered its state. | |
std::vector< rw::core::Ptr< StateData > > | _datas |
Data. | |
StateStructure::Ptr | _stateStruct |
The state structure. | |
interface of a simulated controller
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protected |
Constructor.
model | [in] the controller model. |
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pure virtual |
get the controller handle eg. statefull handle, associated with this simulated controller
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inline |
get the controllermodel of this simulated controller
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pure virtual |
get the name of this controller
Implemented in VelRampController, SyncPDController, SuctionCupController, SpringJointController, SerialDeviceController, PoseController, PDController, BodyController, and BeamJointController.
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pure virtual |
true if this controller is enabled
Implemented in VelRampController, TrajectoryController, SyncPDController, SuctionCupController, SpringJointController, SerialDeviceController, PoseController, PDController, BodyController, and BeamJointController.
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pure virtual |
reset the controller to the applied state
state | [in] the state to reset to |
Implemented in VelRampController, TrajectoryController, SyncPDController, SuctionCupController, SpringJointController, SerialDeviceController, RigidBodyGenerator, PoseController, PDController, BodyController, and BeamJointController.
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pure virtual |
disable or enable this controller
enabled |
Implemented in VelRampController, TrajectoryController, SyncPDController, SuctionCupController, SpringJointController, SerialDeviceController, RigidBodyGenerator, PoseController, PDController, BodyController, and BeamJointController.
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pure virtual |
updates/steps the controller with time step dt. It will update the state state accordingly
info | [in] update information related to the time step. |
state | [in/out] the current state |
Implemented in VelRampController, TrajectoryController, SyncPDController, SuctionCupController, SpringJointController, SerialDeviceController, RigidBodyGenerator, PoseController, PDController, BodyController, and BeamJointController.