Public Member Functions
Disabled Functions
Regular copy/move is not allowed because there can only be one controller per robot, and it must be constructed with the robot pointer present.
	ControllerMethod (const ControllerMethod &)=delete

	ControllerMethod (ControllerMethod &&)=delete

ControllerMethod &	operator= (const ControllerMethod &)=delete

ControllerMethod &	operator= (ControllerMethod &&)=delete

Interface
virtual Control	operator() (const Cfg &_current, const Cfg &_target, const double _dt)

virtual Control	GetRandomControl (const Cfg &_current, const double _dt) const noexcept

ControlSet *	GetControlSet () noexcept

void	SetControlSet (ControlSet *const _c) noexcept

Protected Member Functions
Control Selection
virtual std::vector< double >	ComputeDesiredForce (const Cfg &_current, const Cfg &_target, const double _dt)=0

virtual Control	ComputeNearestControl (const Cfg &_current, std::vector< double > &&_force)

virtual Control	ComputeNearestContinuousControl (const Cfg &_current, std::vector< double > &&_force)

virtual Control	ComputeNearestDiscreteControl (const Cfg &_current, std::vector< double > &&_force)

Protected Attributes
Internal State
Robot *const	m_robot
	The owning robot object.

ControlSet *	m_controls {nullptr}
	The discrete controls, if any.

bool	m_debug {false}
	Show debug messages?

Construction
	ControllerMethod (Robot *const _r)

	ControllerMethod (Robot *const _r, XMLNode &_node)

	ControllerMethod (Robot *const _r, const ControllerMethod &_c)

virtual std::unique_ptr< ControllerMethod >	Clone (Robot *const _r) const =0

virtual	~ControllerMethod ()

static std::unique_ptr< ControllerMethod >	Factory (Robot *const _r, XMLNode &_node)

Detailed Description

Controllers determine the best control needed to move a robot from one configuration to another. They require the standard Cfg as the planning space representation because that's what we can support in simulation.

@TODO Implement simultaneous use of controls from more than one actuator.

Constructor & Destructor Documentation

◆ ControllerMethod() [1/3]

ControllerMethod::ControllerMethod ( Robot *const _r )

Construct a controller for a given robot.

Parameters

_r	The robot to control.

◆ ControllerMethod() [2/3]

ControllerMethod::ControllerMethod	(	Robot *const	_r,
		XMLNode &	_node
	)

Construct a controller for a given robot from an XML node.

Parameters

_r	The robot to control.
_node	The XML node to read parameters from.

◆ ControllerMethod() [3/3]

ControllerMethod::ControllerMethod	(	Robot *const	_r,
		const ControllerMethod &	_c
	)

Copy a controller for another robot.

Parameters

_r	The destination robot.
_c	The controller to copy.

Member Function Documentation

◆ Factory()

std::unique_ptr< ControllerMethod > ControllerMethod::Factory	(	Robot *const	_r,
		XMLNode &	_node
	)

static

Create a dynamically-allocated controller from an XML node.

Parameters

_r	The robot to control.
_node	The XML node to read parameters from.

Returns: A controller of the type described by _node.

◆ Clone()

virtual std::unique_ptr< ControllerMethod > ControllerMethod::Clone ( Robot *const _r ) const

pure virtual

Create a copy of this controller for another robot. This is provided so that we can copy controllers without knowing their derived type.

Parameters

_r	The robot receiving the cloned controller.

Returns: The cloned controller.

Implemented in ICreateController, CarlikeNeedleController, MatlabNeedleController, PIDFeedback, and SimpleController.

◆ operator()()

Control ControllerMethod::operator()	(	const Cfg &	_current,
		const Cfg &	_target,
		const double	_dt
	)

virtual

Find the best available control to steer a robot from a starting configuration to a target configuration.

Parameters

_current	The current configuration.
_target	The target configuration.
_dt	The timestep length.

Returns: The best available control for steering from _current to _target.

Reimplemented in PIDFeedback, and MatlabNeedleController.

◆ GetRandomControl()

Control ControllerMethod::GetRandomControl	(	const Cfg &	_current,
		const double	_dt
	)		const

virtualnoexcept

Find a random control.

Parameters

_current	The current configuration.
_dt	The timestep length.

Returns: A random control that can be executed from _current for _dt steps.

Reimplemented in CarlikeNeedleController, and MatlabNeedleController.

◆ GetControlSet()

ControlSet * ControllerMethod::GetControlSet ( )

noexcept

Get the discrete set of controls that this controller can use, if any.

Returns: The discrete set of controls for this controller, or null if it uses a continuous space(s) of controls.

◆ SetControlSet()

void ControllerMethod::SetControlSet ( ControlSet *const _c )

noexcept

Set a discrete set of controls for this controller to use. This limits the controller to a subset of all possible controls accepted by a robot's actuators.

Parameters

_c	The control set to use.

◆ ComputeDesiredForce()

virtual std::vector< double > ControllerMethod::ComputeDesiredForce	(	const Cfg &	_current,
		const Cfg &	_target,
		const double	_dt
	)

protectedpure virtual

Compute the desired generalized force (or velocity) in the robot's local frame to move from the current position to the target.

Parameters

_current	The current configuration.
_target	The target configuration.
_dt	The timestep length.

Returns: The ideal generalized force.

Implemented in CarlikeNeedleController, ICreateController, PIDFeedback, SimpleController, and MatlabNeedleController.

◆ ComputeNearestControl()

Control ControllerMethod::ComputeNearestControl	(	const Cfg &	_current,
		std::vector< double > &&	_force
	)

protectedvirtual

Compute the control that produces the closest force to the ideal.

Parameters

_current	The current configuration.
_force	The desired force in the robot's local frame.

Returns: The control whose result is nearest to _force.

◆ ComputeNearestContinuousControl()

Control ControllerMethod::ComputeNearestContinuousControl	(	const Cfg &	_current,
		std::vector< double > &&	_force
	)

protectedvirtual

Compute the continuous control that produces the closest force to the ideal.

Parameters

_current	The current configuration.
_force	The desired force in the robot's local frame.

Returns: The control whose result is nearest to _force.

Reimplemented in CarlikeNeedleController.

◆ ComputeNearestDiscreteControl()

Control ControllerMethod::ComputeNearestDiscreteControl	(	const Cfg &	_current,
		std::vector< double > &&	_force
	)

protectedvirtual

Compute the discrete control that produces the closest force to the ideal.

Parameters

_current	The current configuration.
_force	The desired force in the robot's local frame.

Returns: The control whose result is nearest to _force.

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

ControllerMethod.h
ControllerMethod.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Construction

Detailed Description

Constructor & Destructor Documentation

◆ ControllerMethod() [1/3]

◆ ControllerMethod() [2/3]

◆ ControllerMethod() [3/3]

Member Function Documentation

◆ Factory()

◆ Clone()

◆ operator()()

◆ GetRandomControl()

◆ GetControlSet()

◆ SetControlSet()

◆ ComputeDesiredForce()

◆ ComputeNearestControl()

◆ ComputeNearestContinuousControl()

◆ ComputeNearestDiscreteControl()