Class RlController

Inheritance Relationships

Base Type

  • public legged::ControllerBase

Derived Type

Class Documentation

class RlController : public legged::ControllerBase

Subclassed by legged::OnnxController

Public Functions

controller_interface::CallbackReturn on_init() override
controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override
controller_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override
controller_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override

Protected Functions

virtual bool parserCommand(const std::string &name)
virtual bool parserObservation(const std::string &name)

Protected Attributes

Policy::SharedPtr policy_
CommandManager::SharedPtr commandManager_
ObservationManager::SharedPtr observationManager_
std::string actionType_ = {}
vector_t desiredPosition_
std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Float64MultiArray>> publisher_
std::shared_ptr<realtime_tools::RealtimePublisher<std_msgs::msg::Float64MultiArray>> publisherRealtime_