1 #ifndef CONTROL_JOINT_SENSORS_H 2 #define CONTROL_JOINT_SENSORS_H 20 virtual const char* Type()
const {
return "JointPositionSensor"; }
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);
50 virtual const char* Type()
const {
return "JointVelocitySensor"; }
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);
83 virtual const char* Type()
const {
return "DriverTorqueSensor"; }
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);
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