MatlabMicroSimulator Class Reference

Public Member Functions
Construction
	MatlabMicroSimulator (Robot *const _robot)
	~MatlabMicroSimulator ()
Interface
Cfg	Test (const Cfg &_start, const Control &_control) const
ControlSpace	GetControlSpace (const Cfg &_state) const
void	SetInsertionCfg (const Cfg &_insertionCfg)
	Set the insertion configuration.
double	GetMatlabTime () const
	Get the wall-clock time spent waiting on matlab.

Detailed Description

A micro simulator for a steerable needle using a matlab model. It can likely be generalized later if we wish, but for now this is a dedicated object for the needle steering project.

Constructor & Destructor Documentation

MatlabMicroSimulator()

MatlabMicroSimulator::MatlabMicroSimulator

(

Robot *const

_robot

)

Construct a self-simulator for a robot.

Parameters

_robot

The robot to simulate.

Member Function Documentation

Test()

Cfg MatlabMicroSimulator::Test	(	const Cfg &	_start,
		const Control &	_control
	)		const

Test the result of applying a control to the robot from a designated starting configuration.

Parameters

_start	The starting configuration.
_control	The control to apply.

Returns

The result of applying control _c to the robot, starting from _start.

GetControlSpace()

ControlSpace MatlabMicroSimulator::GetControlSpace

(

const Cfg &

_state

)

const

Get the allowed controls from a given state.

Parameters

_state

The current needle state.

Returns

The space of allowed controls from _state.

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

• MatlabMicroSimulator.h
• MatlabMicroSimulator.cpp