类型定义更多...

#include <array>
#include "Schedulers/AbstractScheduler.hpp"
#include "Utils/StaticStringUtils.hpp"
#include "Utils/MathTypes.hpp"
#include "Workers/AbstractWorker.hpp"
#include "Workers/AsyncLoggerWorker.hpp"
#include "Workers/ImuProcessWorker.hpp"
#include "Workers/MotorControlWorker.hpp"
#include "Workers/MotorResetPositionWorker.hpp"
#include "Workers/NetCmdWorker.hpp"
#include "Workers/ActionManagementWorker.hpp"
#include "Workers/NN/EraxLikeInferenceWorker.hpp"
#include "Workers/NN/HumanoidGymInferenceWorker.hpp"
#include "bitbot_mujoco/device/mujoco_imu.h"
#include "bitbot_mujoco/device/mujoco_joint.h"

types.hpp 的引用(Include)关系图:

此图展示该文件被哪些文件直接或间接地引用了:

浏览该文件的源代码.

类型定义
using	DeviceImu = bitbot::MujocoImu

using	DeviceJoint = bitbot::MujocoJoint

using	RealNumber = float

using	Vec3 = z::math::Vector<RealNumber, 3>

using	MotorVec = z::math::Vector<RealNumber, JOINT_NUMBER>

using	SchedulerType

using	MotorResetWorkerType = z::MotorResetPositionWorker<SchedulerType, RealNumber, JOINT_NUMBER>

using	ImuWorkerType = z::ImuProcessWorker<SchedulerType, DeviceImu*, RealNumber>

using	MotorWorkerType = z::MotorControlWorker<SchedulerType, DeviceJoint*, RealNumber, JOINT_NUMBER>

using	MotorPDWorkerType = z::MotorPDControlWorker<SchedulerType, RealNumber, JOINT_NUMBER>

using	LoggerWorkerType

using	CmdWorkerType = z::NetCmdWorker<SchedulerType, RealNumber, NetCommand3Pair>

using	FlexPatchWorkerType = z::SimpleCallbackWorker<SchedulerType>

using	ActionManagementWorkerType = z::ActionManagementWorker<SchedulerType, RealNumber, Net1OutPair>

using	EraxLikeInferWorkerType = z::EraxLikeInferenceWorker<SchedulerType, Net1Name, RealNumber, OBSERVATION_STUCK_LENGTH, OBSERVATION_EXTRA_LENGTH, JOINT_NUMBER>

变量
constexpr size_t	JOINT_NUMBER = 8

constexpr z::CTSPair<"AccelerationRaw", Vec3 >	ImuAccRawPair

constexpr z::CTSPair<"AngleVelocityRaw", Vec3 >	ImuGyroRawPair

constexpr z::CTSPair<"AngleRaw", Vec3 >	ImuMagRawPair

constexpr z::CTSPair<"AccelerationValue", Vec3 >	ImuAccFilteredPair

constexpr z::CTSPair<"AngleValue", Vec3 >	ImuMagFilteredPair

constexpr z::CTSPair<"AngleVelocityValue", Vec3 >	ImuGyroFilteredPair

constexpr z::CTSPair<"LinearVelocityValue", Vec3 >	LinearVelocityValuePair

constexpr z::CTSPair<"TargetMotorPosition", MotorVec >	TargetMotorPosPair

constexpr z::CTSPair<"TargetMotorVelocity", MotorVec >	TargetMotorVelPair

constexpr z::CTSPair<"TargetMotorTorque", MotorVec >	TargetMotorTorquePair

constexpr z::CTSPair<"CurrentMotorPosition", MotorVec >	CurrentMotorPosPair

constexpr z::CTSPair<"CurrentMotorVelocity", MotorVec >	CurrentMotorVelPair

constexpr z::CTSPair<"CurrentMotorTorque", MotorVec >	CurrentMotorTorquePair

constexpr z::CTSPair<"LimitTargetMotorTorque", MotorVec >	LimitTargetMotorTorquePair

constexpr z::CTSPair<"CurrentMotorPositionRaw", MotorVec >	CurrentMotorPosRawPair

constexpr z::CTSPair<"CurrentMotorVelocityRaw", MotorVec >	CurrentMotorVelRawPair

constexpr z::CTString	Net1Name = "Net1"

constexpr z::CTSPair< z::concat(Net1Name, "NetLastAction"), MotorVec >	NetLastActionPair

constexpr z::CTSPair< z::concat(Net1Name, "NetUserCommand3"), Vec3 >	NetCommand3Pair

constexpr z::CTSPair< z::concat(Net1Name, "NetProjectedGravity"), Vec3 >	NetProjectedGravityPair

constexpr z::CTSPair< z::concat(Net1Name, "NetScaledAction"), MotorVec >	NetScaledActionPair

constexpr z::CTSPair< z::concat(Net1Name, "NetClockVector"), z::math::Vector< RealNumber, 2 > >	NetClockVectorPair

constexpr z::CTSPair< z::concat(Net1Name, "InferenceTime"), RealNumber >	InferenceTimePair

constexpr z::CTSPair< z::concat(Net1Name, "Action"), MotorVec >	Net1OutPair

constexpr size_t	OBSERVATION_STUCK_LENGTH = 10

constexpr size_t	OBSERVATION_EXTRA_LENGTH = 5

详细描述

类型定义

作者: Zishun Zhou

日期: 2025-03-10

版权所有: Copyright (c) 2025

类型定义说明

◆ LoggerWorkerType

using LoggerWorkerType

初始值:

 z::AsyncLoggerWorker<SchedulerType, RealNumber, ImuAccRawPair, ImuGyroRawPair, ImuMagRawPair, LinearVelocityValuePair,
    ImuAccFilteredPair, ImuGyroFilteredPair, ImuMagFilteredPair,
    TargetMotorPosPair, TargetMotorVelPair, CurrentMotorPosPair, CurrentMotorVelPair, CurrentMotorTorquePair,
    TargetMotorTorquePair, LimitTargetMotorTorquePair,
    NetLastActionPair, NetCommand3Pair, NetProjectedGravityPair, NetScaledActionPair, NetClockVectorPair, InferenceTimePair, Net1OutPair>

◆ SchedulerType

using SchedulerType