SimulatedController Class Reference

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.

Detailed Description

interface of a simulated controller

Constructor & Destructor Documentation

SimulatedController()

SimulatedController ( rw::models::ControllerModel::Ptr  model )

protected

Constructor.

Parameters

model

[in] the controller model.

Member Function Documentation

getControllerHandle()

virtual rw::core::Ptr<rwlibs::control::Controller> getControllerHandle ( rw::core::Ptr< rwlibs::simulation::Simulator >  sim )

pure virtual

get the controller handle eg. statefull handle, associated with this simulated controller

Returns

getControllerModel()

rw::core::Ptr<rw::models::ControllerModel> getControllerModel ( )

inline

get the controllermodel of this simulated controller

Returns

getControllerName()

virtual std::string getControllerName ( )

pure virtual

get the name of this controller

Returns

name of this controller

Implemented in VelRampController, SyncPDController, SuctionCupController, SpringJointController, SerialDeviceController, PoseController, PDController, BodyController, and BeamJointController.

isEnabled()

virtual bool isEnabled ( ) const

pure virtual

true if this controller is enabled

Returns

Implemented in VelRampController, TrajectoryController, SyncPDController, SuctionCupController, SpringJointController, SerialDeviceController, PoseController, PDController, BodyController, and BeamJointController.

reset()

virtual void reset ( const rw::kinematics::State &  state )

pure virtual

reset the controller to the applied state

Parameters

state

[in] the state to reset to

Implemented in VelRampController, TrajectoryController, SyncPDController, SuctionCupController, SpringJointController, SerialDeviceController, RigidBodyGenerator, PoseController, PDController, BodyController, and BeamJointController.

setEnabled()

virtual void setEnabled ( bool  enabled )

pure virtual

disable or enable this controller

Parameters

enabled

Implemented in VelRampController, TrajectoryController, SyncPDController, SuctionCupController, SpringJointController, SerialDeviceController, RigidBodyGenerator, PoseController, PDController, BodyController, and BeamJointController.

update()

virtual void update ( const rwlibs::simulation::Simulator::UpdateInfo &  info, rw::kinematics::State &  state  )

pure virtual

updates/steps the controller with time step dt. It will update the state state accordingly

Parameters

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.

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

• SimulatedController.hpp