P controller gains random property. More...
#include <Randomiser.hh>
Public Member Functions | |
| PGain (IRandomSampler *sampler_, bool additive_, std::vector< std::string > &models_, std::vector< std::string > &joints_, std::vector< int > &types_, std::vector< double > &p_gains_) | |
| Constructor. More... | |
| ~PGain () override | |
| Destructor. More... | |
| void | fillMsg (DRRequest &msg, DRInterface &api, std::mt19937 &gen, std::string &target) override |
| Fill DR request message. More... | |
 Public Member Functions inherited from RandomProperty | |
| RandomProperty (IRandomSampler *sampler_, bool additive_) | |
| Constructor. More... | |
| virtual | ~RandomProperty () |
| Destructor. More... | |
Public Attributes | |
| std::vector< std::string > | models |
| List of affected models. More... | |
| std::vector< std::string > | joints |
| List of affected joints. More... | |
| std::vector< int > | types |
| Respective list of controller types. More... | |
| std::vector< double > | p_gains |
| Respective list of initial P controller gains. More... | |
| Public Attributes inherited from RandomProperty | |
| IRandomSampler * | sampler |
| Random distribution sampler. More... | |
| bool | additive |
| Whether term is additive or a scaling factor. More... | |
Additional Inherited Members | |
| Static Public Attributes inherited from RandomProperty | |
| static const char | CFG_TARGET_OBJ [] = "TARGET_OBJECT" |
| Target object yml keyword string. More... | |
P controller gains random property.
| PGain | ( | IRandomSampler * | sampler_, |
| bool | additive_, | ||
| std::vector< std::string > & | models_, | ||
| std::vector< std::string > & | joints_, | ||
| std::vector< int > & | types_, | ||
| std::vector< double > & | p_gains_ | ||
| ) |
Constructor.
| sampler_ | PRNG sampler |
| additive_ | Whether term is addictive or a scaling factor |
| models_ | List of affected models |
| joints_ | List of affected joints |
| types_ | List of respective controller types |
| p_gains_ | List of respective P controller gains |
|
inlineoverride |
Destructor.
|
overridevirtual |
Fill DR request message.
| msg | DR request message |
| api | DR interface |
| gen | PRNG |
| target | Name of target object |
Reimplemented from RandomProperty.
| std::vector<std::string> joints |
List of affected joints.
| std::vector<std::string> models |
List of affected models.
| std::vector<double> p_gains |
Respective list of initial P controller gains.
| std::vector<int> types |
Respective list of controller types.