1 #ifndef LOGGING_CONTROLLER_H 2 #define LOGGING_CONTROLLER_H 4 #include "Controller.h" 21 virtual const char* Type()
const {
return "LoggingController"; }
22 virtual void Update(Real dt);
23 bool SaveLog(
const char* fn)
const;
24 bool LoadLog(
const char* fn);
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);
31 virtual vector<string> Commands()
const;
32 virtual bool SendCommand(
const string& name,
const string& str);
37 void RemoveDelays(Real maxDelayTime);
39 shared_ptr<RobotController> base;
41 bool onlyJointCommands;
42 vector<pair<Real,RobotMotorCommand> > trajectory;
The main robot type used in RobotSim.
Definition: Robot.h:79
A collection of basic motor types.
Definition: Command.h:43
A basic motor type. Handles PID, torque, and locked velocity modes.
Definition: Command.h:15
A controllre that saves/replays low-level commands from disk.
Definition: LoggingController.h:17
A base class for a robot controller. The base class does nothing.
Definition: Controller.h:27