Drake
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BotVisualizer< RobotStateVector > Class Template Reference
Modeling Dynamical Systems » System Concept

BotVisualizer<RobotStateVector> More...

#include <drake/systems/plants/BotVisualizer.h>

Public Types

template<typename ScalarType >
using StateVector = NullVector< ScalarType >
 
template<typename ScalarType >
using OutputVector = RobotStateVector< ScalarType >
 
template<typename ScalarType >
using InputVector = RobotStateVector< ScalarType >
 

Public Member Functions

 BotVisualizer (std::shared_ptr< lcm::LCM > _lcm, std::shared_ptr< RigidBodyTree > tree)
 
 BotVisualizer (std::shared_ptr< lcm::LCM > _lcm, const std::string &urdf_filename, const DrakeJoint::FloatingBaseType floating_base_type)
 
void init ()
 
void publishLoadRobot () const
 
StateVector< double > dynamics (const double &t, const StateVector< double > &x, const InputVector< double > &u) const
 
OutputVector< double > output (const double &t, const StateVector< double > &x, const InputVector< double > &u) const
 
bool isTimeVarying () const
 
bool isDirectFeedthrough () const
 

Detailed Description

template<template< typename > class RobotStateVector>
class Drake::BotVisualizer< RobotStateVector >

BotVisualizer<RobotStateVector>

A system which takes the robot state as input and publishes an lcm draw command to the drake visualizer

Implemented concepts:
System Concept

The resulting system has no internal state; the publish command is executed on every call to the output method. For convenience, the input is passed directly through as an output.

Member Typedef Documentation

using InputVector = RobotStateVector<ScalarType>
using OutputVector = RobotStateVector<ScalarType>
using StateVector = NullVector<ScalarType>

Constructor & Destructor Documentation

BotVisualizer ( std::shared_ptr< lcm::LCM >  _lcm,
std::shared_ptr< RigidBodyTree >  tree 
)
inline

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BotVisualizer ( std::shared_ptr< lcm::LCM >  _lcm,
const std::string &  urdf_filename,
const DrakeJoint::FloatingBaseType  floating_base_type 
)
inline

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Member Function Documentation

StateVector<double> dynamics ( const double &  t,
const StateVector< double > &  x,
const InputVector< double > &  u 
) const
inline
void init ( )
inline

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bool isDirectFeedthrough ( ) const
inline
bool isTimeVarying ( ) const
inline
OutputVector<double> output ( const double &  t,
const StateVector< double > &  x,
const InputVector< double > &  u 
) const
inline

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void publishLoadRobot ( ) const
inline

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