Control.h File Reference

#include <cstddef>
#include <iostream>
#include <set>
#include <vector>
#include "Geometry/Shapes/NBox.h"

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Data Structures
struct	Control

Typedefs
typedef NBox	ControlSpace
typedef std::vector< Control >	ControlSet
	A discrete set of controls can be defined by a sequence of allowed controls. More...

Functions
std::ostream &	operator<< (std::ostream &, const Control &)
	Display function for debugging controls and roadmap output. Prints the signal. More...
std::vector< double >	AggregatedControlVector (const ControlSet &_controls)

Typedef Documentation

ControlSet

typedef std::vector<Control> ControlSet

A discrete set of controls can be defined by a sequence of allowed controls.

ControlSpace

typedef NBox ControlSpace

A continuous space of controls can be defined by an N-dimensional box in C-space.

Function Documentation

AggregatedControlVector()

std::vector<double> AggregatedControlVector

(

const ControlSet &

_controls

)

When dealing with hardware it is often more convenient to have a single force/velocity vector, depending on how the robot model will be set up. This helper converts a control set to a single summed force/velocity vector.

Parameters

_controls

The control set.

Returns

An aggregated output vector (force/velocity according to actuator type).

operator<<()

std::ostream& operator<<	(	std::ostream &	_os,
		const Control &	_c
	)

Display function for debugging controls and roadmap output. Prints the signal.