cnoid::SimpleController Class Reference

#include <SimpleController.h>

Public Types
enum	StateType {   StateNone = Link::StateNone, JointDisplacement = Link::JointDisplacement, JointAngle = Link::JointAngle, JointVelocity = Link::JointVelocity,   JointAcceleration = Link::JointAcceleration, JointEffort = Link::JointEffort, JointForce = Link::JointForce, JointTorque = Link::JointTorque,   LinkPosition = Link::LinkPosition, LinkTwist = Link::LinkTwist, LinkExtWrench = Link::LinkExtWrench, LinkContactState = Link::LinkContactState,   JOINT_DISPLACEMENT = JointDisplacement, JOINT_ANGLE = JointAngle, JOINT_VELOCITY = JointVelocity, JOINT_SURFACE_VELOCITY = Link::DeprecatedJointSurfaceVelocity,   JOINT_ACCELERATION = JointAcceleration, JOINT_EFFORT = JointEffort, JOINT_TORQUE = JointTorque, JOINT_FORCE = JointForce,   LINK_POSITION = LinkPosition, LINK_FORCE = LinkExtWrench }
typedef SimpleController *(*	Factory) ()

Public Member Functions
virtual	~SimpleController ()
virtual bool	configure (SimpleControllerConfig *config)
virtual bool	initialize (SimpleControllerIO *io)
virtual bool	start ()
virtual bool	control ()
virtual void	stop ()
virtual void	unconfigure ()

Protected Member Functions
	SimpleController ()

Member Typedef Documentation

Factory

typedef SimpleController*(* cnoid::SimpleController::Factory) ()

Member Enumeration Documentation

StateType

enum cnoid::SimpleController::StateType

Enumerator
StateNone
JointDisplacement
JointAngle
JointVelocity
JointAcceleration
JointEffort
JointForce
JointTorque
LinkPosition
LinkTwist
LinkExtWrench
LinkContactState
JOINT_DISPLACEMENT
JOINT_ANGLE
JOINT_VELOCITY
JOINT_SURFACE_VELOCITY
JOINT_ACCELERATION
JOINT_EFFORT
JOINT_TORQUE
JOINT_FORCE
LINK_POSITION
LINK_FORCE

Constructor & Destructor Documentation

~SimpleController()

SimpleController::~SimpleController ( )

virtual

SimpleController()

SimpleController::SimpleController ( )

protected

Member Function Documentation

configure()

bool SimpleController::configure ( SimpleControllerConfig *  config )

virtual

The configure function is called when the controller is associated with a target body item. The function is used to implement the configuration process that should be done before starting the simulation.

Returns

Return true if the configuration succeeds, or false if it fails.

Note

If the "reloading" property of the SimpleControllerItem is true, the configure function is executed just before calling the initialize function when the simulation is started because the controller is always reloaded when the simulation is started in the "reloading" mode.

control()

bool SimpleController::control ( )

virtual

The control function is called at every frame of the control loop. The control process is implemented in this function.

Returns

Return true if the control is still active. If the false is returned, the simulation may be stopped depending on the simulation mode.

initialize()

bool SimpleController::initialize ( SimpleControllerIO *  io )

virtual

The initialize function is called when the simulation is initialized to start.

Returns

Return true if the initialization succeeds, or false if it fails.

start()

bool SimpleController::start ( )

virtual

The start function is called when the simulation is started. The function is called after basic initialization process is finished and the simulation is about to start.

Returns

Return true if the initialization succeeds, or false if it fails.

stop()

void SimpleController::stop ( )

virtual

The stop function is called when the simulation is stopped. The finalization of the control process is implemented in this function.

unconfigure()

void SimpleController::unconfigure ( )

virtual

The unconfigure function is called when the controller is unloaded. The process to finalize the controller itself is implemented in this function.

---

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

• SimpleController.h
• SimpleController.cpp