59 lines
1.2 KiB
C++
59 lines
1.2 KiB
C++
/**
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* @file policy_runner_base.hpp
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* @brief policy runner base class
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* @author DeepRobotics
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* @version 1.0
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* @date 2025-11-07
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*
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* @copyright Copyright (c) 2025 DeepRobotics
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*
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*/
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#pragma once
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#include "common_types.h"
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#include "basic_function.hpp"
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#include "onnxruntime_cxx_api.h"
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using namespace types;
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class PolicyRunnerBase{
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public:
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PolicyRunnerBase(std::string policy_name):policy_name_(policy_name){
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vel_delta_const_ << 0.3, 0.2, 0.3;
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cmd_vel_input_.setZero();
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}
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virtual ~PolicyRunnerBase(){}
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/**
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* @brief use to display policy detail
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*/
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virtual void DisplayPolicyInfo(){
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}
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/**
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* @brief Get the robot action object by run your policy
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* @return RobotAction
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*/
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virtual RobotAction getRobotAction(const RobotBasicState&, const UserCommand&) = 0;
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/**
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* @brief execute function when first entering policy runner
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*/
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virtual void OnEnter() = 0;
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/**
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* @brief Set the decimation
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* @param d decimation
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*/
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virtual void SetDecimation(int d){
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decimation_ = d;
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}
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const std::string policy_name_;
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int decimation_;
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int run_cnt_;
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Vec3f vel_delta_const_, cmd_vel_input_;
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};
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