RobotController Class Reference

#include <RobotController.h>

Collaboration diagram for RobotController:

Public Member Functions
	RobotController ()
virtual	~RobotController ()
virtual void	initializeController ()=0
virtual void	runController ()=0
virtual void	updateVisualization ()=0
virtual ControlParameters *	getUserControlParameters ()=0

Protected Attributes
Quadruped< float > *	_quadruped
FloatingBaseModel< float > *	_model
LegController< float > *	_legController
StateEstimatorContainer< float > *	_stateEstimator
StateEstimate< float > *	_stateEstimate
GamepadCommand *	_driverCommand
RobotControlParameters *	_controlParameters
VisualizationData *	_visualizationData
RobotType	_robotType

Friends
class	RobotRunner

Detailed Description

Definition at line 10 of file RobotController.h.

Constructor & Destructor Documentation

RobotController::RobotController ( )

inline

Definition at line 13 of file RobotController.h.

{}

virtual RobotController::~RobotController ( )

inlinevirtual

Definition at line 14 of file RobotController.h.

References getUserControlParameters(), initializeController(), runController(), and updateVisualization().

{}

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Member Function Documentation

virtual ControlParameters* RobotController::getUserControlParameters ( )

pure virtual

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virtual void RobotController::initializeController ( )

pure virtual

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virtual void RobotController::runController ( )

pure virtual

Called one time every control loop

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virtual void RobotController::updateVisualization ( )

pure virtual

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Friends And Related Function Documentation

friend class RobotRunner

friend

Definition at line 11 of file RobotController.h.

Member Data Documentation

RobotControlParameters* RobotController::_controlParameters

protected

Definition at line 31 of file RobotController.h.

GamepadCommand* RobotController::_driverCommand

protected

Definition at line 30 of file RobotController.h.

LegController<float>* RobotController::_legController

protected

Definition at line 27 of file RobotController.h.

FloatingBaseModel<float>* RobotController::_model

protected

Definition at line 26 of file RobotController.h.

Quadruped<float>* RobotController::_quadruped

protected

Definition at line 25 of file RobotController.h.

RobotType RobotController::_robotType

protected

Definition at line 34 of file RobotController.h.

StateEstimate<float>* RobotController::_stateEstimate

protected

Definition at line 29 of file RobotController.h.

StateEstimatorContainer<float>* RobotController::_stateEstimator

protected

Definition at line 28 of file RobotController.h.

VisualizationData* RobotController::_visualizationData

protected

Definition at line 33 of file RobotController.h.

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The documentation for this class was generated from the following file:

• RobotController.h