Class robot_dart::control::PolicyControl¶

template <typename Policy>

ClassList > robot_dart > control > PolicyControl

Inherits the following classes: robot_dart::control::RobotControl

Public Functions¶

Type	Name
	PolicyControl ()
	PolicyControl (double dt, const Eigen::VectorXd & ctrl, bool full_control=false)
	PolicyControl (const Eigen::VectorXd & ctrl, bool full_control=false)
	PolicyControl (double dt, const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs)
	PolicyControl (const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs)
virtual Eigen::VectorXd	calculate (double t) override
virtual std::shared_ptr< RobotControl >	clone () override const
virtual void	configure () override
Eigen::VectorXd	h_params () const
void	set_h_params (const Eigen::VectorXd & h_params)

Public Functions inherited from robot_dart::control::RobotControl¶

See robot_dart::control::RobotControl

Type	Name
	RobotControl ()
	RobotControl (const Eigen::VectorXd & ctrl, bool full_control=false)
	RobotControl (const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs)
void	activate (bool enable=true)
bool	active () const
virtual Eigen::VectorXd	calculate (double t) = 0
virtual std::shared_ptr< RobotControl >	clone () const = 0
virtual void	configure () = 0
const std::vector< std::string > &	controllable_dofs () const
void	init ()
const Eigen::VectorXd &	parameters () const
std::shared_ptr< Robot >	robot () const
void	set_parameters (const Eigen::VectorXd & ctrl)
void	set_robot (const std::shared_ptr< Robot > & robot)
void	set_weight (double weight)
double	weight () const
virtual	~RobotControl ()

Protected Attributes¶

Type	Name
double	_dt
bool	_first
bool	_full_dt
int	_i
Policy	_policy
Eigen::VectorXd	_prev_commands
double	_prev_time
double	_threshold

Protected Attributes inherited from robot_dart::control::RobotControl¶

See robot_dart::control::RobotControl

Type	Name
bool	_active
bool	_check_free = = false
int	_control_dof
std::vector< std::string >	_controllable_dofs
Eigen::VectorXd	_ctrl
int	_dof
std::weak_ptr< Robot >	_robot
double	_weight

Public Functions Documentation¶

function PolicyControl [⅕]¶

inline robot_dart::control::PolicyControl::PolicyControl ()

function PolicyControl [⅖]¶

inline robot_dart::control::PolicyControl::PolicyControl (
    double dt,
    const Eigen::VectorXd & ctrl,
    bool full_control=false
)

function PolicyControl [⅗]¶

inline robot_dart::control::PolicyControl::PolicyControl (
    const Eigen::VectorXd & ctrl,
    bool full_control=false
)

function PolicyControl [⅘]¶

inline robot_dart::control::PolicyControl::PolicyControl (
    double dt,
    const Eigen::VectorXd & ctrl,
    const std::vector< std::string > & controllable_dofs
)

function PolicyControl [5/5]¶

inline robot_dart::control::PolicyControl::PolicyControl (
    const Eigen::VectorXd & ctrl,
    const std::vector< std::string > & controllable_dofs
)

function calculate¶

inline virtual Eigen::VectorXd robot_dart::control::PolicyControl::calculate (
    double t
) override

Implements robot_dart::control::RobotControl::calculate

function clone¶

inline virtual std::shared_ptr< RobotControl > robot_dart::control::PolicyControl::clone () override const

Implements robot_dart::control::RobotControl::clone

function configure¶

inline virtual void robot_dart::control::PolicyControl::configure () override

Implements robot_dart::control::RobotControl::configure

function h_params¶

inline Eigen::VectorXd robot_dart::control::PolicyControl::h_params () const

function set_h_params¶

inline void robot_dart::control::PolicyControl::set_h_params (
    const Eigen::VectorXd & h_params
)

Protected Attributes Documentation¶

variable _dt¶

double robot_dart::control::PolicyControl< Policy >::_dt;

variable _first¶

bool robot_dart::control::PolicyControl< Policy >::_first;

variable _full_dt¶

bool robot_dart::control::PolicyControl< Policy >::_full_dt;

variable _i¶

int robot_dart::control::PolicyControl< Policy >::_i;

variable _policy¶

Policy robot_dart::control::PolicyControl< Policy >::_policy;

variable _prev_commands¶

Eigen::VectorXd robot_dart::control::PolicyControl< Policy >::_prev_commands;

variable _prev_time¶

double robot_dart::control::PolicyControl< Policy >::_prev_time;

variable _threshold¶

double robot_dart::control::PolicyControl< Policy >::_threshold;

The documentation for this class was generated from the following file robot_dart/control/policy_control.hpp