Klamp't  0.8.1
JointSensors.h
1 #ifndef CONTROL_JOINT_SENSORS_H
2 #define CONTROL_JOINT_SENSORS_H
3 
4 #include "Sensor.h"
5 using namespace Math;
6 
16 {
17  public:
19  virtual ~JointPositionSensor() {}
20  virtual const char* Type() const { return "JointPositionSensor"; }
21  virtual void Simulate(ControlledRobotSimulator* robot,WorldSimulation* sim);
22  virtual void SimulateKinematic(Robot& robot,RobotWorld& world);
23  virtual void Reset();
24  virtual void MeasurementNames(vector<string>& names) const;
25  virtual void GetMeasurements(vector<double>& values) const;
26  virtual void SetMeasurements(const vector<double>& values);
27  virtual map<string,string> Settings() const;
28  virtual bool GetSetting(const string& name,string& str) const;
29  virtual bool SetSetting(const string& name,const string& str);
30 
31  vector<int> indices;
32  Vector qvariance;
33  Vector qresolution;
34  Vector q;
35 };
36 
46 {
47  public:
49  virtual ~JointVelocitySensor() {}
50  virtual const char* Type() const { return "JointVelocitySensor"; }
51  virtual void Simulate(ControlledRobotSimulator* robot,WorldSimulation* sim);
52  virtual void SimulateKinematic(Robot& robot,RobotWorld& world);
53  virtual void Reset();
54  virtual void MeasurementNames(vector<string>& names) const;
55  virtual void GetMeasurements(vector<double>& values) const;
56  virtual void SetMeasurements(const vector<double>& values);
57  virtual map<string,string> Settings() const;
58  virtual bool GetSetting(const string& name,string& str) const;
59  virtual bool SetSetting(const string& name,const string& str);
60 
61  vector<int> indices;
62  Vector dqvariance;
63  Vector dqresolution;
64  Vector dq;
65 };
66 
79 {
80  public:
82  virtual ~DriverTorqueSensor() {}
83  virtual const char* Type() const { return "DriverTorqueSensor"; }
84  virtual void Simulate(ControlledRobotSimulator* robot,WorldSimulation* sim);
85  virtual void SimulateKinematic(Robot& robot,RobotWorld& world);
86  virtual void Reset();
87  virtual void MeasurementNames(vector<string>& names) const;
88  virtual void GetMeasurements(vector<double>& values) const;
89  virtual void SetMeasurements(const vector<double>& values);
90  virtual map<string,string> Settings() const;
91  virtual bool GetSetting(const string& name,string& str) const;
92  virtual bool SetSetting(const string& name,const string& str);
93 
94  vector<int> indices;
95  Vector tvariance;
96  Vector tresolution;
97  Vector t;
98 };
99 
100 #endif
Vector q
Measurement: joint angles.
Definition: JointSensors.h:34
The main robot type used in RobotSim.
Definition: Robot.h:79
A class containing information about an ODE-simulated and controlled robot.
Definition: ControlledSimulator.h:17
The main world class containing multiple robots, objects, and static geometries (terrains). Lights and other viewport information may also be stored here.
Definition: World.h:20
Simulates a torque sensor.
Definition: JointSensors.h:78
Vector tvariance
Estimated variance of the torque values.
Definition: JointSensors.h:95
A sensor base class. A SensorBase should allow a Controller to both connect to a simulation as well a...
Definition: Sensor.h:51
Vector dqresolution
Estimate on the encoder resolution.
Definition: JointSensors.h:63
Vector qresolution
Estimate on the encoder resolution.
Definition: JointSensors.h:33
Vector dqvariance
Estimated variance of the encoder values.
Definition: JointSensors.h:62
Vector tresolution
Estimate on the torque resolution.
Definition: JointSensors.h:96
vector< int > indices
The indices on which the velocity sensors are located.
Definition: JointSensors.h:61
Vector qvariance
Estimated variance of the encoder values.
Definition: JointSensors.h:32
vector< int > indices
The indices on which the position sensors are located.
Definition: JointSensors.h:31
Simulates a joint encoder.
Definition: JointSensors.h:15
A physical simulator for a RobotWorld.
Definition: WorldSimulation.h:67
Vector t
Measurement: joint torques.
Definition: JointSensors.h:97
Vector dq
Measurement: joint velocities.
Definition: JointSensors.h:64
vector< int > indices
The indices on which the torque sensors are located.
Definition: JointSensors.h:94
Simulates a velocity sensor. (Does not perform differencing)
Definition: JointSensors.h:45