Class trifinger_simulation::BasePyBulletFingerDriver

template<typename Action, typename Observation>
class BasePyBulletFingerDriver : public robot_interfaces::RobotDriver<Action, Observation>, public robot_interfaces::RobotDriver<Action, Observation>

Base driver for pyBullet of both single Finger and TriFinger.

Implements all methods of RobotDriver except initialize which needs to be implemented by the child class as there are differences between single Finger and TriFinger.

All other methods are generic and only need to be templated with the proper types for actions/observations.

Template Parameters:

• Action – Action type used for the specific robot.

• Observation – Observation type used for the specific robot.

Public Types

typedef Observation::JointVector JointVector

typedef Observation::JointVector JointVector

Public Functions

inline BasePyBulletFingerDriver(bool real_time_mode, bool visualize)

inline Observation get_latest_observation() override

inline Action apply_action(const Action &desired_action) override

inline std::optional<std::string> get_error() override

inline void shutdown() override

inline BasePyBulletFingerDriver(bool real_time_mode, bool visualize)

inline Observation get_latest_observation() override

inline Action apply_action(const Action &desired_action) override

inline std::optional<std::string> get_error() override

inline void shutdown() override