mc_control::Ticker Struct Reference

#include <mc_control/Ticker.h>

Collaboration diagram for mc_control::Ticker:

Classes
struct	Configuration

Public Member Functions
	Ticker (const Configuration &config)
void	reset ()
bool	step ()
void	run ()
double	elapsed_time () const noexcept
const mc_control::MCGlobalController &	controller () const noexcept
mc_control::MCGlobalController &	controller () noexcept

Protected Member Functions
void	simulate_sensors ()
void	setup_gui ()
void	set_time (double t)

Protected Attributes
Configuration	config_
mc_control::MCGlobalController	gc_
std::shared_ptr< mc_rtc::log::FlatLog >	log_
size_t	iters_ = 0
double	sim_real_ratio_ = 1.0
std::atomic< bool >	do_reset_ = false
bool	running_ = true
bool	replay_done_ = false
int64_t	rem_steps_ = 0

Detailed Description

A ticker runs a (potentially infinite) loop of MCGlobalController

The default behavior is to run in open-loop mode where the outputs of mc_rtc are used to feed the inputs of MCGlobalController

It also supports loading log files to replay inputs, in replay we can:

• replay the sensor inputs
• replay the GUI inputs
• replay arbitrary data into the datastore
• replay outputs

Constructor & Destructor Documentation

Ticker()

mc_control::Ticker::Ticker

(

const Configuration &

config

)

Initialize the ticker with the given configuration, this also initialize the controller

Member Function Documentation

controller() [1/2]

const mc_control::MCGlobalController& mc_control::Ticker::controller ( ) const

inlinenoexcept

Access the controller (const)

controller() [2/2]

mc_control::MCGlobalController& mc_control::Ticker::controller ( )

inlinenoexcept

Access the controller

elapsed_time()

double mc_control::Ticker::elapsed_time ( ) const

inlinenoexcept

Elapsed simulation time since the last reset

reset()

void mc_control::Ticker::reset

(

)

Reset the ticker to the initial configuration

Note: the reset happes on the next call to step()

run()

void mc_control::Ticker::run

(

)

Run as many iterations as configured

set_time()

void mc_control::Ticker::set_time ( double  t )

protected

setup_gui()

void mc_control::Ticker::setup_gui ( )

protected

simulate_sensors()

void mc_control::Ticker::simulate_sensors ( )

protected

step()

bool mc_control::Ticker::step

(

)

Run one step

This function does not do any time synchronization

Member Data Documentation

config_

Configuration mc_control::Ticker::config_

protected

do_reset_

std::atomic<bool> mc_control::Ticker::do_reset_ = false

protected

Do a reset on the next iteration

gc_

mc_control::MCGlobalController mc_control::Ticker::gc_

protected

iters_

size_t mc_control::Ticker::iters_ = 0

protected

Number of steps taken since the last reset

log_

std::shared_ptr<mc_rtc::log::FlatLog> mc_control::Ticker::log_

protected

rem_steps_

int64_t mc_control::Ticker::rem_steps_ = 0

protected

Number of steps remaning before going back to pause

replay_done_

bool mc_control::Ticker::replay_done_ = false

protected

True when the replay is done

running_

bool mc_control::Ticker::running_ = true

protected

True while running

sim_real_ratio_

double mc_control::Ticker::sim_real_ratio_ = 1.0

protected

Current sim/real ratio

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The documentation for this struct was generated from the following file:

• include/mc_control/Ticker.h