base class for robot simulation and evaluation. Evaluators perform
simulation book-keeping (such as allocating dynamicSystems and
instantiating configurations), coordinate multiple d2kComponents,
and keep track of the metrics being used to evaluate configurations.
All of the above functionality is present in the evaluator base
class. Derived classes can take advantage of this functionality
while overriding the evaluateConfiguration() method, which allows
the user to write application-specific simulation control (such
as sequentially simulating multiple scenarios, or changing
controllers as the simulation progresses). If no special interactions
with (or between) d2kComponents is required, then the user
can just use the evaluator to perform initialization and bookkeeping.
In this case, the user can access the evaluator's dynamicSystem (ds)
to control the physical simulation directly.
Virtual methods for derived classes
Derived evaluators may override the following methods:
- readParams()
- init()
- cleanup()
- setVariables()
- evaluateConfiguration()
- postComponentCreationHook()
For all of the above functions except evaluateConfiguration,
the derived methods must call the parent class's
method (e.g. init() should call the parent class's init() method).
Users writing their own evaluator class should start with (or at least look
at) the dummy versions created by darwin2k-makemod.
![[more]](icon1.gif)
metricSpecifierList metricSpec
dynamicSystem* ds