MicroSimulator Class Reference

Public Member Functions
Construction
	MicroSimulator (Robot *const _robot)
	~MicroSimulator ()
Interface
Cfg	Test (const Cfg &_start, const Control &_control, const double _dt)
Cfg	Test (const Cfg &_start, const ControlSet &_controlSet, const double _dt)

Detailed Description

A micro simulator for a single robot. It tests the result of applying a control to a robot in a given configuration.

This object outsources forward dynamics computations to an isolated bullet physics engine.

Constructor & Destructor Documentation

MicroSimulator()

MicroSimulator::MicroSimulator

(

Robot *const

_robot

)

Construct a self-simulator for a robot.

Parameters

_robot

The robot to simulate.

Member Function Documentation

Test() [1/2]

Cfg MicroSimulator::Test	(	const Cfg &	_start,
		const Control &	_control,
		const double	_dt
	)

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.
_dt	The length of time to apply the control.

Returns

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

Test() [2/2]

Cfg MicroSimulator::Test	(	const Cfg &	_start,
		const ControlSet &	_controlSet,
		const double	_dt
	)

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

Parameters

_start	The starting configuration.
_controlSet	The set of controls to apply.
_dt	The length of time to apply the control.

Returns

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

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

• MicroSimulator.h
• MicroSimulator.cpp