class pathEvaluator

evaluator for tasks consisting of a series of cartesian-space end-effector trajectories.

Inheritance:

Inherited from evaluator:

Public Fields

metricSpecifierList metricSpec

ptrList metrics

ptrList taskParamRecs

Public Methods

virtual int readParams(const char* fname)

virtual int setVariables(const ptrList* taskParams)

virtual int evaluateConfiguration(void)

virtual int postComponentCreationHook(void)

virtual int postCfgInitHook(void)

static evaluator* createEvaluatorFromFile(const char* evFilename)

inline metric* getMetric(int i)

metric* getMetricByType(const char* className)

inline taskParamRecord* getTaskParam(int i)

inline int numTaskParams(void)

void printMetrics(FILE* fp)

Public Members

#define getMetricByName(name)

Inherited from d2kSimulator:

Public Fields

dynamicSystem* ds

configuration* cfg

ptrList cfgs

ptrList d2kComponents

double dt

double maxRealtime

d2kDisplayHook* display

double simTimeout

ulong startSecs

triple gravity

uniformField* gravityInfluence

int useGravity

int useDynamicSimulation

Public Methods

virtual int init(ptrList* cfgs)

virtual int cleanup(void)

virtual int dynoCleanup(void)

virtual int minCfgs(void) const

virtual int maxCfgs(void) const

Hooks for derived classes

Inherited from synObject:

Public Fields

static int staticClassID

int objectID

int verboseLevel

Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const

Documentation

evaluator for tasks consisting of a series of cartesian-space end-effector trajectories. Each trajectory is represented by a path (or derived class) object, and the paths are organized into groups. Within each group, there can be 0 or 1 paths for each of the robot's end effectors, and the pathEvaluator switches to the next group of paths after all paths in the current group have been successfully followed to their ends.

The pathEvaluator expects to find an sriController (or derived object) to generate joint-space commands from the cartesian space paths.

This class has no child classes.

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