MatlabNeedleController Class Reference

Public Member Functions
Construction
	MatlabNeedleController (Robot *const _r)
	MatlabNeedleController (Robot *const _r, XMLNode &_node)
	MatlabNeedleController (Robot *const _r, const MatlabNeedleController &_c)
virtual std::unique_ptr< ControllerMethod >	Clone (Robot *const _r) const override
virtual	~MatlabNeedleController ()
ControllerMethod Overrides
virtual Control	operator() (const Cfg &_current, const Cfg &_target, const double _steps) override
virtual Control	GetRandomControl (const Cfg &_current, const double _steps) const noexcept override
Interface
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 _steps) override
	Not used within this class. More...
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

A controller for a steerable needle using a matlab mechanics model.

Warning

Controls mean something entirely different for this kind of robot - they are not generalized DOF forces/velocities.

Note

This currently only works with the problem at envs/2D/HingedNeedle.

Constructor & Destructor Documentation

MatlabNeedleController() [1/3]

MatlabNeedleController::MatlabNeedleController

(

Robot *const

_r

)

Construct a simple controller.

Parameters

_r	The robot to control.

MatlabNeedleController() [2/3]

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

Construct a simple controller from an XML node.

Parameters

_r	The robot to control.
_node	The XML node to parse.

MatlabNeedleController() [3/3]

MatlabNeedleController::MatlabNeedleController	(	Robot *const	_r,
		const MatlabNeedleController &	_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 > MatlabNeedleController::Clone ( Robot *const  _r ) const

overridevirtual

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.

operator()()

Control MatlabNeedleController::operator() ( const Cfg &  _current, const Cfg &  _target, const double  _steps  )

overridevirtual

This is different from other controllers - it takes a number of steps instead of a time span.

Parameters

_current	The current configuration.
_target	The target configuration.
_steps	The number of steps to take.

Returns

The computed control.

Reimplemented from ControllerMethod.

GetRandomControl()

Control MatlabNeedleController::GetRandomControl ( const Cfg &  _current, const double  _steps  ) const

overridevirtualnoexcept

This is different from other controllers - it takes a number of steps instead of a time span.

Parameters

_current	The current configuration.
_steps	The number of steps to take.

Returns

The computed control.

Reimplemented from ControllerMethod.

ComputeDesiredForce()

std::vector< double > MatlabNeedleController::ComputeDesiredForce ( const Cfg &  _current, const Cfg &  _target, const double  _steps  )

overrideprotectedvirtual

Not used within this class.

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.

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:

• MatlabNeedleController.h
• MatlabNeedleController.cpp