ICreateController Class Reference

Public Member Functions
Construction
	ICreateController (Robot *const _r, const double _gain, const double _max=std::numeric_limits< double >::infinity())
	ICreateController (Robot *const _r, XMLNode &_node)
	ICreateController (Robot *const _r, const ICreateController &_c)
virtual std::unique_ptr< ControllerMethod >	Clone (Robot *const _r) const
virtual	~ICreateController ()
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

Static Public Member Functions
Construction
static std::unique_ptr< ControllerMethod >	Factory (Robot *const _r, XMLNode &_node)

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

Detailed Description

Selects controls that require an iCreate-like robot to first turn towards its target and then translate in the desired direction.

Constructor & Destructor Documentation

ICreateController() [1/3]

ICreateController::ICreateController	(	Robot *const	_r,
		const double	_gain,
		const double	_max = std::numeric_limits<double>::infinity()
	)

Construct a simple controller.

Parameters

[in]	_r	The robot to control.
[in]	_gain	The direct error gain.
[in]	_max	The maximum force to request.

ICreateController() [2/3]

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

Construct a simple controller from an XML node.

Parameters

[in]	_r	The robot to control.
[in]	_node	The XML node to parse.

ICreateController() [3/3]

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

Copy a controller for another robot.

Parameters

_r	The destination robot.
_c	The controller to copy.

Member Function Documentation

Clone()

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

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.

Implements ControllerMethod.

ComputeDesiredForce()

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

overrideprotectedvirtual

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.

Implements ControllerMethod.

Factory()

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

staticinherited

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.

operator()()

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

virtualinherited

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

virtualnoexceptinherited

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 ( )

noexceptinherited

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 )

noexceptinherited

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.

ComputeNearestControl()

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

protectedvirtualinherited

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  )

protectedvirtualinherited

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  )

protectedvirtualinherited

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.

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

• ICreateController.h
• ICreateController.cpp