A robot controller in mujoco which provides visualization tools. More...

#include <autharl_mujoco/viz.h>

Inheritance diagram for arl::mujoco::Viz:

Collaboration diagram for arl::mujoco::Viz:

Public Member Functions
	Viz (const std::shared_ptr< mujoco::Robot > &robot)

	~Viz ()

Public Member Functions inherited from arl::robot::Controller
	Controller (std::shared_ptr< Robot > r, const std::string &name, Timing timing=FIXED)
	Constructor which initializes the robot controller. More...

	~Controller ()

bool	run ()
	The main function that runs the controller. More...

bool	runRT ()
	Runs the controller with real time priority. More...

void	setExternalStop (bool arg)
	Sets an external stop to the controller. Another external thread can use this function to stop the controller. More...

std::string	getName ()
	Returns the name of the controller. More...

double	getTime () const
	Returns the current time since the start of the controller in seconds. More...

virtual void	enableLogging (const std::string &log_path="/home/user/autharl_logfiles/")
	Enables the logging by opening files for log benchmarking times and data. More...

virtual void	reference (const arma::mat &ref)

Additional Inherited Members
Public Types inherited from arl::robot::Controller
enum	Timing { FIXED, DYNAMIC }

Protected Member Functions inherited from arl::robot::Controller
virtual void	init ()
	Initializes the controller. More...

virtual bool	success ()
	Implements the success condition of your controller. More...

virtual void	measure ()
	Measures the desired data. More...

virtual void	command ()
	Commands the robot. More...

virtual void	update ()=0
	Performs the necessary calculations of the controller. More...

Protected Attributes inherited from arl::robot::Controller
std::string	name
	The name of the controller. More...

bool	external_stop
	The external stopped setted by Controller::setExternalStop() More...

std::shared_ptr< Robot >	robot
	The pointer to the robot to be controlled. More...

double	t
	The current time t, with t = 0 when the controller is created. Alternatively the user can initialize time durint the init() function of its derived controller. More...

double	dt
	The cycle time of the control loop, obtained by the robot. More...

bool	stop_flag_

utils::Timer	timer
	Used for measuring the current time of the controller. More...

utils::Timer	benchmark_total_timer_

utils::Timer	benchmark_timer_

io::Logger	benchmark_logger_

io::Logger	logger_

Timing	timing_

Detailed Description

A robot controller in mujoco which provides visualization tools.

In order to run your controller in mujoco, you have to inherit from this class.

Constructor & Destructor Documentation

arl::mujoco::Viz::Viz ( const std::shared_ptr< mujoco::Robot > & robot )

explicit

arl::mujoco::Viz::~Viz ( )