Class Policy

Defined in File Policy.h

Inheritance Relationships

Derived Type

public legged::OnnxPolicy (Class OnnxPolicy)

Class Documentation

class Policy

Subclassed by legged::OnnxPolicy

Public Types

using SharedPtr = std::shared_ptr<Policy>

Public Functions

virtual ~Policy() = default

virtual size_t getObservationSize() const = 0

virtual size_t getActionSize() const = 0

virtual void init() = 0

virtual void reset() = 0

virtual vector_t forward(const vector_t &observations) = 0

virtual vector_t getLastAction() = 0

inline std::vector<std::string> getJointNames() const

inline vector_t getJointStiffness() const

inline vector_t getJointDamping() const

inline vector_t getDefaultJointPositions() const

inline std::vector<std::string> getCommandNames() const

inline std::vector<std::string> getObservationNames() const

inline vector_t getActionScale() const

Protected Attributes

std::vector<std::string> jointNames_

vector_t jointStiffness_

vector_t jointDamping_

vector_t defaultJointPositions_

std::vector<std::string> commandNames_

std::vector<std::string> observationNames_

vector_t actionScale_