Class robot_dart::control::RobotControl

ClassList > robot_dart > control > RobotControl

Inherited by the following classes: robot_dart::control::PDControl, robot_dart::control::PolicyControl, robot_dart::control::SimpleControl

Public Functions

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
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 RobotControl [⅓]

robot_dart::control::RobotControl::RobotControl () 

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function RobotControl [⅔]

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

---

function RobotControl [3/3]

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

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function activate

void robot_dart::control::RobotControl::activate (
    bool enable=true
) 

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function active

bool robot_dart::control::RobotControl::active () const

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function calculate

virtual Eigen::VectorXd robot_dart::control::RobotControl::calculate (
    double t
) = 0

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function clone

virtual std::shared_ptr< RobotControl > robot_dart::control::RobotControl::clone () const = 0

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function configure

virtual void robot_dart::control::RobotControl::configure () = 0

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function controllable_dofs

const std::vector< std::string > & robot_dart::control::RobotControl::controllable_dofs () const

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function init

void robot_dart::control::RobotControl::init () 

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function parameters

const Eigen::VectorXd & robot_dart::control::RobotControl::parameters () const

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function robot

std::shared_ptr< Robot > robot_dart::control::RobotControl::robot () const

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function set_parameters

void robot_dart::control::RobotControl::set_parameters (
    const Eigen::VectorXd & ctrl
) 

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function set_robot

void robot_dart::control::RobotControl::set_robot (
    const std::shared_ptr< Robot > & robot
) 

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function set_weight

void robot_dart::control::RobotControl::set_weight (
    double weight
) 

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function weight

double robot_dart::control::RobotControl::weight () const

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function ~RobotControl

inline virtual robot_dart::control::RobotControl::~RobotControl () 

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Protected Attributes Documentation

variable _active

bool robot_dart::control::RobotControl::_active;

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variable _check_free

bool robot_dart::control::RobotControl::_check_free;

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variable _control_dof

int robot_dart::control::RobotControl::_control_dof;

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variable _controllable_dofs

std::vector<std::string> robot_dart::control::RobotControl::_controllable_dofs;

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variable _ctrl

Eigen::VectorXd robot_dart::control::RobotControl::_ctrl;

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variable _dof

int robot_dart::control::RobotControl::_dof;

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variable _robot

std::weak_ptr<Robot> robot_dart::control::RobotControl::_robot;

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variable _weight

double robot_dart::control::RobotControl::_weight;

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