GMRDynamics Class Reference

#include <armarx/control/ds_controller/GMRDynamics.h>

Public Member Functions
double	getCurrentTime (void)
MathLib::Vector	getNextState (double lamda)
MathLib::Vector	getNextState (void)
double	getReachingTime (double lamda)
MathLib::Vector	getState (void)
MathLib::Vector	getTarget (void)
double	getTargetT (void)
MathLib::Vector	getVelocity (MathLib::Vector x)
	GMRDynamics (int nStates, int nVar, double delta_t, const char *f_mu, const char *f_sigma, const char *f_prio)
	GMRDynamics (int nStates, int nVar, double delta_t, const vector< double > pri_vec, const vector< double > mu_vec, const vector< double > sig_vec)
void	initGMR (int first_inindex, int last_inindex, int first_outindex, int last_outindex)
void	setCurrentTime (double current_t)
void	setState (MathLib::Vector state)
void	setStateTarget (MathLib::Vector state, MathLib::Vector target)
void	setTarget (MathLib::Vector target, double target_t=-1.0)

Detailed Description

Definition at line 20 of file GMRDynamics.h.

Constructor & Destructor Documentation

GMRDynamics() [1/2]

GMRDynamics	(	int	nStates,
		int	nVar,
		double	delta_t,
		const char *	f_mu,
		const char *	f_sigma,
		const char *	f_prio
	)

Definition at line 15 of file GMRDynamics.cpp.

GMRDynamics() [2/2]

GMRDynamics	(	int	nStates,
		int	nVar,
		double	delta_t,
		const vector< double >	pri_vec,
		const vector< double >	mu_vec,
		const vector< double >	sig_vec
	)

Definition at line 26 of file GMRDynamics.cpp.

Member Function Documentation

getCurrentTime()

double getCurrentTime

(

void

)

Definition at line 103 of file GMRDynamics.cpp.

getNextState() [1/2]

MathLib::Vector getNextState

(

double

lamda

)

Definition at line 122 of file GMRDynamics.cpp.

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getNextState() [2/2]

MathLib::Vector getNextState

(

void

)

Definition at line 116 of file GMRDynamics.cpp.

getReachingTime()

double getReachingTime

(

double

lamda

)

Definition at line 133 of file GMRDynamics.cpp.

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getState()

MathLib::Vector getState

(

void

)

Definition at line 91 of file GMRDynamics.cpp.

getTarget()

MathLib::Vector getTarget

(

void

)

Definition at line 73 of file GMRDynamics.cpp.

getTargetT()

double getTargetT

(

void

)

Definition at line 79 of file GMRDynamics.cpp.

getVelocity()

MathLib::Vector getVelocity

(

MathLib::Vector

x

)

Definition at line 109 of file GMRDynamics.cpp.

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initGMR()

void initGMR	(	int	first_inindex,
		int	last_inindex,
		int	first_outindex,
		int	last_outindex
	)

Definition at line 39 of file GMRDynamics.cpp.

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setCurrentTime()

void setCurrentTime

(

double

current_t

)

Definition at line 97 of file GMRDynamics.cpp.

setState()

void setState

(

MathLib::Vector

state

)

Definition at line 85 of file GMRDynamics.cpp.

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setStateTarget()

void setStateTarget	(	MathLib::Vector	state,
		MathLib::Vector	target
	)

Definition at line 57 of file GMRDynamics.cpp.

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setTarget()

void setTarget	(	MathLib::Vector	target,
		double	target_t = -1.0
	)

Definition at line 64 of file GMRDynamics.cpp.

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

• armarx/control/ds_controller/GMRDynamics.h
• armarx/control/ds_controller/GMRDynamics.cpp