Control

Classes
struct	ActuatorCommand
	A basic motor type. Handles PID, torque, and locked velocity modes. More...
struct	RobotMotorCommand
	A collection of basic motor types. More...
class	RobotController
	A base class for a robot controller. The base class does nothing. More...
class	RobotControllerFactory
	A class to simplify the loading of different controllers at run time. More...
class	FeedforwardController
	A class that adds a feedforward torque to the basic control. The necessary feedforward torque is estimated assuming the robot is fixed-base. More...
struct	OperationalSpaceController
	A combination of multiple "tasks" that define a weighted optimization objective for the joint torques. More...
class	PolynomialMotionQueue
	A motion queue that runs on a piecewise polynomial path. Can be commanded to reach configurations (with or without velocities specified) smoothly using piecewise linear or cubic curves. More...
class	PolynomialPathController
	A controller that uses a piecewise polynomial trajectory. More...
class	SerialController
	A controller that writes sensor data to a socket and reads robot commands from a socket. More...
class	TabulatedController
	A controller that reads from a grid of torque/desired configuration commands. More...
struct	RobotStateEstimator
	A generic state estimator base class. Base class does nothing. More...
struct	OmniscientStateEstimator
	A state estimator will full knowledge of the robot's simulated state. An ODERobot must be provided at initialization. More...
struct	IntegratedStateEstimator
	A state estimator that integrates information from accelerometers (i.e., an Inertial Measurement Unit) and gravity sensors. More...

Functions
void	OptimizeMDP (TabulatedController &controller, const Config &qdes, const Vector &w, int numTransitionSamples, Real discount=1.0)
	Optimizes the given tabulated controller to reach the desired configuration qdes, with cost weights w, using an MDP.

Detailed Description