OpenRAVE Documentation

IdealController - basecontrollers

Type:controller
Plugin:basecontrollers
Interface Author:
 Rosen Diankov

Ideal controller used for planning and non-physics simulations. Forces exact robot positions.

If ef ControllerBase::SetPath is called and the trajectory finishes, then the controller will continue to set the trajectory’s final joint values and transformation until one of three things happens:

  1. ControllerBase::SetPath is called.
  2. ControllerBase::SetDesired is called.
  3. ControllerBase::Reset is called resetting everything

If SetDesired is called, only joint values will be set at every timestep leaving the transformation alone.

IdealController Commands

help

display help commands.


Pause

pauses the controller from reacting to commands


SetCheckCollisions

If set, will check if the robot gets into a collision during movement


SetThrowExceptions

If set, will throw exceptions instead of print warnings. Format is:

[0/1]

Questions/Feedback

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