Randomiser representation class. More...

#include <Randomiser.hh>

Public Member Functions
	Randomiser (const std::string &config)
	Constructor. More...

	~Randomiser ()
	Destructor. More...

void	randomise (bool blocking=true)
	Apply batch randomisation. More...

void	setTargetName (const std::string &target)
	Sets target object name. More...

Static Public Attributes
static const char	CFG_PROPERTIES [] = "properties"
	Properties yml field string. More...

static const char	CFG_MODEL_SCALE [] = "model_scale"
	Model scale yml field string. More...

static const char	CFG_LINK_MASS [] = "link_mass"
	Link mass yml field string. More...

static const char	CFG_FRICTION [] = "friction_coefficient"
	Friction coefficients yml field string. More...

static const char	CFG_JOINT_DAMPING [] = "joint_damping_coefficient"
	Joint damping coefficients yml field string. More...

static const char	CFG_P_GAIN [] = "p_gain"
	P controller gains yml field string. More...

static const char	CFG_JOINT_LIMIT [] = "joint_limit"
	Joint limits yml field string. More...

static const char	CFG_GRAVITY [] = "gravity"
	Gravity vector yml field string. More...

static const char	CFG_DIST [] = "dist"
	Distribution yml field string. More...

static const char	CFG_UNIFORM [] = "uniform"
	Uniform distribution yml field string. More...

static const char	CFG_LOG_UNIFORM [] = "loguniform"
	Log-uniform distribution yml field string. More...

static const char	CFG_UNIFORM_A [] = "a"
	Uniform distribution lower limit yml field string. More...

static const char	CFG_UNIFORM_B [] = "b"
	Uniform distribution upper limit yml field string. More...

static const char	CFG_GAUSSIAN [] = "gaussian"
	Gaussian distribution yml field string. More...

static const char	CFG_GAUSSIAN_MEAN [] = "mean"
	Gaussian distribution mean yml field string. More...

static const char	CFG_GAUSSIAN_STD [] = "std"
	Gaussian distribution standard deviation yml field string. More...

static const char	CFG_ADDITIVE [] = "additive"
	Additive yml field string. More...

static const char	CFG_VECTOR [] = "vector"
	Vector yml field string. More...

static const char	CFG_TARGET [] = "target"
	Target yml keyword string. More...

static const char	CFG_MODEL [] = "model"
	Model yml field string. More...

static const char	CFG_LINK [] = "link"
	Link yml field string. More...

static const char	CFG_JOINT [] = "joint"
	Joints yml field string. More...

static const char	CFG_MASS [] = "mass"
	Link mass yml field string. More...

static const char	CFG_DAMPING [] = "damping"
	Joint damping yml field string. More...

static const char	CFG_LOWER [] = "lower"
	Joint lower limit yml field string. More...

static const char	CFG_UPPER [] = "upper"
	Joint upper limit yml field string. More...

static const char	CFG_MU1 [] = "mu1"
	Surface mu1 yml field string. More...

static const char	CFG_MU2 [] = "mu2"
	Surface mu2 yml field string. More...

static const char	CFG_KP [] = "kp"
	Surface kp yml field string. More...

static const char	CFG_KD [] = "kd"
	Surface kd yml field string. More...

static const char	CFG_TYPE [] = "type"
	Controller type yml field string. More...

static const char	CFG_P [] = "p"
	P controller gain yml field string. More...

static const char	CFG_TYPE_POS [] = "position"
	Position controller keyword string. More...

Private Attributes
DRInterface	api
	DRInterface API. More...

std::vector< RandomProperty * >	properties
	Randomised properties. More...

std::mt19937	m_mt
	Mersenne Twister pseudorandom number generator. More...

std::string	target {"TARGET_OBJECT"}
	Target object string. More...

Detailed Description

Randomiser representation class.

Constructor & Destructor Documentation

Randomiser ( const std::string & config )

Constructor.

~Randomiser ( )

Destructor.

Member Function Documentation

void randomise ( bool blocking = true )

Apply batch randomisation.

Parameters

blocking Whether to wait for response

void setTargetName ( const std::string & target )

Sets target object name.

Parameters

target New target object name

Member Data Documentation

DRInterface api

private

DRInterface API.

const char CFG_ADDITIVE = "additive"

static

Additive yml field string.

const char CFG_DAMPING = "damping"

static

Joint damping yml field string.

const char CFG_DIST = "dist"

static

Distribution yml field string.

const char CFG_FRICTION = "friction_coefficient"

static

Friction coefficients yml field string.

const char CFG_GAUSSIAN = "gaussian"

static

Gaussian distribution yml field string.

const char CFG_GAUSSIAN_MEAN = "mean"

static

Gaussian distribution mean yml field string.

const char CFG_GAUSSIAN_STD = "std"

static

Gaussian distribution standard deviation yml field string.

const char CFG_GRAVITY = "gravity"

static

Gravity vector yml field string.

const char CFG_JOINT = "joint"

static

Joints yml field string.

const char CFG_JOINT_DAMPING = "joint_damping_coefficient"

static

Joint damping coefficients yml field string.

const char CFG_JOINT_LIMIT = "joint_limit"

static

Joint limits yml field string.

const char CFG_KD = "kd"

static

Surface kd yml field string.

const char CFG_KP = "kp"

static

Surface kp yml field string.

const char CFG_LINK = "link"

static

Link yml field string.

const char CFG_LINK_MASS = "link_mass"

static

Link mass yml field string.

const char CFG_LOG_UNIFORM = "loguniform"

static

Log-uniform distribution yml field string.

const char CFG_LOWER = "lower"

static

Joint lower limit yml field string.

const char CFG_MASS = "mass"

static

Link mass yml field string.

const char CFG_MODEL = "model"

static

Model yml field string.

const char CFG_MODEL_SCALE = "model_scale"

static

Model scale yml field string.

const char CFG_MU1 = "mu1"

static

Surface mu1 yml field string.

const char CFG_MU2 = "mu2"

static

Surface mu2 yml field string.

const char CFG_P = "p"

static

P controller gain yml field string.

const char CFG_P_GAIN = "p_gain"

static

P controller gains yml field string.

const char CFG_PROPERTIES = "properties"

static

Properties yml field string.

const char CFG_TARGET = "target"

static

Target yml keyword string.

const char CFG_TYPE = "type"

static

Controller type yml field string.

const char CFG_TYPE_POS = "position"

static

Position controller keyword string.

const char CFG_UNIFORM = "uniform"

static

Uniform distribution yml field string.

const char CFG_UNIFORM_A = "a"

static

Uniform distribution lower limit yml field string.

const char CFG_UNIFORM_B = "b"

static

Uniform distribution upper limit yml field string.

const char CFG_UPPER = "upper"

static

Joint upper limit yml field string.

const char CFG_VECTOR = "vector"

static

Vector yml field string.

std::mt19937 m_mt

private

Mersenne Twister pseudorandom number generator.

std::vector<RandomProperty*> properties

private

Randomised properties.

std::string target {"TARGET_OBJECT"}

private

Target object string.

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

Public Member Functions

Static Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation