#include <RobotComponents/components/DMPComponent/DMPComponent.h>

Inheritance diagram for DMPComponent:

Public Member Functions
Vec2D	calcTrajectory (const std::string &dmpName, double startTime, double timeStep, double endTime, const ::Ice::DoubleSeq &goal, const cStateVec &states, const ::Ice::DoubleSeq &canonicalValues, double temporalFactor, const ::Ice::Current &=Ice::emptyCurrent) override

armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

	DMPComponent ()

void	eraseDMP (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override

double	getAmpl (const std::string &dmpName, int dim, const ::Ice::Current &=Ice::emptyCurrent) override

Ice::DoubleSeq	getCanonicalValues (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override

cStateVec	getCurrentState (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override

double	getCurrentTime (const ::Ice::Current &=Ice::emptyCurrent) override

double	getDampingFactor (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override

std::string	getDefaultName () const override

DMPInstanceBasePrx	getDMP (const std::string &dmpName, const Ice::Current &=Ice::emptyCurrent) override

int	getDMPDim (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override

DMPInstanceBasePrx	getDMPFromDatabase (const std::string &dmpEntityName, const std::string &dmpName="UNKNOWN", const Ice::Current &=Ice::emptyCurrent) override

DMPInstanceBasePrx	getDMPFromDatabaseById (const std::string &dbId, const Ice::Current &) override

DMPInstanceBasePrx	getDMPFromFile (const std::string &fileName, const std::string &dmpName="UNKNOWN", const Ice::Current &=Ice::emptyCurrent) override

SVector	getDMPNameList (const ::Ice::Current &=Ice::emptyCurrent) override

std::string	getDMPType (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override

double	getForceTerm (const std::string &dmpName, const Ice::DoubleSeq &canonicalValues, int dim, const Ice::Current &=Ice::emptyCurrent) override

cStateVec	getNextState (const std::string &dmpName, const cStateVec &states, const ::Ice::Current &=Ice::emptyCurrent) override

double	getSpringFactor (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override

Ice::DoubleSeq	getStartPosition (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override

double	getTemporalFactor (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override

double	getTimeStep (const ::Ice::Current &=Ice::emptyCurrent) override

Ice::DoubleSeq	getTrajGoal (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override

::armarx::cStateVec	getTrajStartState (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override

DMPInstanceBasePrx	instantiateDMP (const std::string &dmpName, const std::string &DMPType, int kernelSize, const ::Ice::Current &=Ice::emptyCurrent) override

bool	isDMPExist (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override

void	readTrajectoryFromFile (const std::string &dmpName, const std::string &file, double times=1, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeDMPFromDatabase (const std::string &name, const ::Ice::Current &=Ice::emptyCurrent) override

void	removeDMPFromDatabaseById (const std::string &dbId, const Ice::Current &) override

void	resetCanonicalValues (const ::Ice::Current &=Ice::emptyCurrent) override

void	resetTime (const ::Ice::Current &=Ice::emptyCurrent) override

void	setAmpl (const std::string &dmpName, int dim, double value, const ::Ice::Current &=Ice::emptyCurrent) override

void	setCanonicalValues (const std::string &dmpName, const Ice::DoubleSeq &value, const Ice::Current &=Ice::emptyCurrent) override

void	setDMPState (const std::string &dmpName, const ::armarx::cStateVec &state, const ::Ice::Current &=Ice::emptyCurrent) override

void	setGoal (const std::string &dmpName, const Ice::DoubleSeq &value, const Ice::Current &=Ice::emptyCurrent) override

void	setStartPosition (const std::string &dmpName, const Ice::DoubleSeq &value, const Ice::Current &=Ice::emptyCurrent) override

void	setTemporalFactor (const std::string &dmpName, double tau, const ::Ice::Current &=Ice::emptyCurrent) override

void	setTimeStep (double ts, const ::Ice::Current &=Ice::emptyCurrent) override

void	storeDMPInDatabase (const std::string &dmpName, const std::string &name, const ::Ice::Current &=Ice::emptyCurrent) override

void	storeDMPInFile (const std::string &fileName, const std::string &dmpName, const Ice::Current &) override

void	trainDMP (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override

Public Member Functions inherited from Component
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	Implement this function if you would like to react to changes in the properties. More...

void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function More...

std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class ProxyType >
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property. More...

template<class ProxyType >
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)

template<class TopicProxyType >
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property. More...

template<class TopicProxyType >
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)

void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component. More...

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property. More...

virtual void	preOnConnectComponent () override

virtual void	preOnInitComponent () override

bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property. More...

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property. More...

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer) More...

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name. More...

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components. More...

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies) More...

IceManagerPtr	getIceManager () const
	Returns the IceManager. More...

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object. More...

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter. More...

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler More...

template<class ProxyTarg , class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyType >
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object. More...

template<class ProxyTarg , class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&...args)

template<class ProxyTarg , class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&...args)
	Assigns a proxy to `proxy`. More...

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy) More...

template<class Prx >
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType >
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload). More...

template<class Prx >
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject. More...

template<class TopicProxyType >
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic. More...

template<class TopicProxyType >
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`. More...

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies More...

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization. More...

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager. More...

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic. More...

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list. More...

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization. More...

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies. More...

void	waitForProxy (std::string const &name, bool addToDependencies)

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()

Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval. More...

template<typename PropertyType >
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in `const`-modified methods. More...

template<class T >
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T >
void	getProperty (T &val, const std::string &name) const

template<class T >
std::vector< T >	getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

template<class ContainerT >
void	getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

PropertyDefinitionsPtr	getPropertyDefinitions ()
	Returns the component's property definition container. More...

std::vector< std::string >	getSubscribedTopicNames ()

std::vector< std::string >	getTopicProxyNames ()

bool	hasProperty (const std::string &name)

	PropertyUser ()

virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties. More...

bool	tryAddProperty (const std::string &propertyName, const std::string &value)

virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)

void	updateProperties ()

void	updateProxies (IceManagerPtr)

	~PropertyUser () override

Public Attributes
double	ctime

double	timestep

std::vector< int >	usedDimensions

Protected Member Functions
void	onConnectComponent () override

void	onDisconnectComponent () override

void	onExitComponent () override

void	onInitComponent () override

Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text. More...

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead. More...

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor. More...

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor. More...

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor. More...

virtual void	icePropertiesInitialized ()

Protected Member Functions inherited from ManagedIceObject
template<class PluginT , class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&...params)

template<class PluginT , class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&...params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor. More...

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object. More...

void	setName (std::string name)
	Override name of well-known object. More...

void	terminate ()
	Initiates termination of this IceManagedObject. More...

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Attributes
memoryx::PersistentDMPDataSegmentBasePrx	dmpDataMemoryPrx

DMPMap	dmpPool

memoryx::LongtermMemoryInterfacePrx	longtermMemoryPrx

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Additional Inherited Members
Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle< SimplePeriodicTask< std::function< void(void)> >>

Static Public Member Functions inherited from Component
template<class T , class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component. More...

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name. More...

static std::string	GetObjectStateAsString (int state)

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required. More...

Detailed Description

The DMPComponent class.

Definition at line 113 of file DMPComponent.h.

Constructor & Destructor Documentation

◆ DMPComponent()

DMPComponent ( )

inline

Definition at line 119 of file DMPComponent.h.

Member Function Documentation

◆ calcTrajectory()

Vec2D calcTrajectory	(	const std::string &	dmpName,
		double	startTime,
		double	timeStep,
		double	endTime,
		const ::Ice::DoubleSeq &	goal,
		const cStateVec &	states,
		const ::Ice::DoubleSeq &	canonicalValues,
		double	temporalFactor,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 716 of file DMPComponent.cpp.

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

inlineoverridevirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 137 of file DMPComponent.h.

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◆ eraseDMP()

void eraseDMP	(	const std::string &	dmpName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 817 of file DMPComponent.cpp.

◆ getAmpl()

double getAmpl	(	const std::string &	dmpName,
		int	dim,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 515 of file DMPComponent.cpp.

◆ getCanonicalValues()

Ice::DoubleSeq getCanonicalValues	(	const std::string &	dmpName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 568 of file DMPComponent.cpp.

◆ getCurrentState()

cStateVec getCurrentState	(	const std::string &	dmpName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 551 of file DMPComponent.cpp.

◆ getCurrentTime()

double getCurrentTime ( const ::Ice::Current & = Ice::emptyCurrent )

override

Definition at line 604 of file DMPComponent.cpp.

◆ getDampingFactor()

double getDampingFactor	(	const std::string &	dmpName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 614 of file DMPComponent.cpp.

◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

See also: armarx::ManagedIceObject::getDefaultName()

Implements ManagedIceObject.

Definition at line 129 of file DMPComponent.h.

◆ getDMP()

DMPInstanceBasePrx getDMP	(	const std::string &	dmpName,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 121 of file DMPComponent.cpp.

◆ getDMPDim()

int getDMPDim	(	const std::string &	dmpName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 646 of file DMPComponent.cpp.

◆ getDMPFromDatabase()

DMPInstanceBasePrx getDMPFromDatabase	(	const std::string &	dmpEntityName,
		const std::string &	dmpName = `"UNKNOWN"`,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 158 of file DMPComponent.cpp.

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◆ getDMPFromDatabaseById()

DMPInstanceBasePrx getDMPFromDatabaseById	(	const std::string &	dbId,
		const Ice::Current &
	)

override

Definition at line 208 of file DMPComponent.cpp.

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◆ getDMPFromFile()

DMPInstanceBasePrx getDMPFromFile	(	const std::string &	fileName,
		const std::string &	dmpName = `"UNKNOWN"`,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 225 of file DMPComponent.cpp.

◆ getDMPNameList()

SVector getDMPNameList ( const ::Ice::Current & = Ice::emptyCurrent )

override

Definition at line 805 of file DMPComponent.cpp.

◆ getDMPType()

string getDMPType	(	const std::string &	dmpName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 663 of file DMPComponent.cpp.

◆ getForceTerm()

double getForceTerm	(	const std::string &	dmpName,
		const Ice::DoubleSeq &	canonicalValues,
		int	dim,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 695 of file DMPComponent.cpp.

◆ getNextState()

cStateVec getNextState	(	const std::string &	dmpName,
		const cStateVec &	states,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 532 of file DMPComponent.cpp.

◆ getSpringFactor()

double getSpringFactor	(	const std::string &	dmpName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 630 of file DMPComponent.cpp.

◆ getStartPosition()

Ice::DoubleSeq getStartPosition	(	const std::string &	dmpName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 679 of file DMPComponent.cpp.

◆ getTemporalFactor()

double getTemporalFactor	(	const std::string &	dmpName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 586 of file DMPComponent.cpp.

◆ getTimeStep()

double getTimeStep ( const ::Ice::Current & = Ice::emptyCurrent )

inlineoverride

Definition at line 183 of file DMPComponent.h.

◆ getTrajGoal()

Ice::DoubleSeq getTrajGoal	(	const std::string &	dmpName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 767 of file DMPComponent.cpp.

◆ getTrajStartState()

cStateVec getTrajStartState	(	const std::string &	dmpName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 784 of file DMPComponent.cpp.

◆ instantiateDMP()

DMPInstanceBasePrx instantiateDMP	(	const std::string &	dmpName,
		const std::string &	DMPType,
		int	kernelSize,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 126 of file DMPComponent.cpp.

◆ isDMPExist()

bool isDMPExist	(	const std::string &	dmpName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 827 of file DMPComponent.cpp.

◆ onConnectComponent()

void onConnectComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onConnectComponent()

Implements ManagedIceObject.

Definition at line 50 of file DMPComponent.cpp.

◆ onDisconnectComponent()

void onDisconnectComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onDisconnectComponent()

Reimplemented from ManagedIceObject.

Definition at line 78 of file DMPComponent.cpp.

◆ onExitComponent()

void onExitComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onExitComponent()

Reimplemented from ManagedIceObject.

Definition at line 84 of file DMPComponent.cpp.

◆ onInitComponent()

void onInitComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onInitComponent()

Implements ManagedIceObject.

Definition at line 42 of file DMPComponent.cpp.

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◆ readTrajectoryFromFile()

void readTrajectoryFromFile	(	const std::string &	dmpName,
		const std::string &	file,
		double	times = `1`,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 398 of file DMPComponent.cpp.

◆ removeDMPFromDatabase()

void removeDMPFromDatabase	(	const std::string &	name,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 338 of file DMPComponent.cpp.

◆ removeDMPFromDatabaseById()

void removeDMPFromDatabaseById	(	const std::string &	dbId,
		const Ice::Current &
	)

override

Definition at line 358 of file DMPComponent.cpp.

◆ resetCanonicalValues()

void resetCanonicalValues ( const ::Ice::Current & = Ice::emptyCurrent )

override

Definition at line 744 of file DMPComponent.cpp.

◆ resetTime()

void resetTime ( const ::Ice::Current & = Ice::emptyCurrent )

override

Definition at line 734 of file DMPComponent.cpp.

◆ setAmpl()

void setAmpl	(	const std::string &	dmpName,
		int	dim,
		double	value,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 432 of file DMPComponent.cpp.

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◆ setCanonicalValues()

void setCanonicalValues	(	const std::string &	dmpName,
		const Ice::DoubleSeq &	value,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 476 of file DMPComponent.cpp.

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◆ setDMPState()

void setDMPState	(	const std::string &	dmpName,
		const ::armarx::cStateVec &	state,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 417 of file DMPComponent.cpp.

◆ setGoal()

void setGoal	(	const std::string &	dmpName,
		const Ice::DoubleSeq &	value,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 447 of file DMPComponent.cpp.

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◆ setStartPosition()

void setStartPosition	(	const std::string &	dmpName,
		const Ice::DoubleSeq &	value,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 462 of file DMPComponent.cpp.

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◆ setTemporalFactor()

void setTemporalFactor	(	const std::string &	dmpName,
		double	tau,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 491 of file DMPComponent.cpp.

◆ setTimeStep()

void setTimeStep	(	double	ts,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 505 of file DMPComponent.cpp.

◆ storeDMPInDatabase()

void storeDMPInDatabase	(	const std::string &	dmpName,
		const std::string &	name,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 311 of file DMPComponent.cpp.

◆ storeDMPInFile()

void storeDMPInFile	(	const std::string &	fileName,
		const std::string &	dmpName,
		const Ice::Current &
	)

override

Definition at line 283 of file DMPComponent.cpp.

◆ trainDMP()

void trainDMP	(	const std::string &	dmpName,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 379 of file DMPComponent.cpp.

Member Data Documentation

◆ ctime

double ctime

Definition at line 221 of file DMPComponent.h.

◆ dmpDataMemoryPrx

memoryx::PersistentDMPDataSegmentBasePrx dmpDataMemoryPrx

protected

Definition at line 234 of file DMPComponent.h.

◆ dmpPool

DMPMap dmpPool

protected

Definition at line 231 of file DMPComponent.h.

◆ longtermMemoryPrx

memoryx::LongtermMemoryInterfacePrx longtermMemoryPrx

protected

Definition at line 233 of file DMPComponent.h.

◆ timestep

double timestep

Definition at line 222 of file DMPComponent.h.

◆ usedDimensions

std::vector<int> usedDimensions

Definition at line 223 of file DMPComponent.h.

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

RobotComponents/components/DMPComponent/DMPComponent.h
RobotComponents/components/DMPComponent/DMPComponent.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DMPComponent()

Member Function Documentation

◆ calcTrajectory()

◆ createPropertyDefinitions()

◆ eraseDMP()

◆ getAmpl()

◆ getCanonicalValues()

◆ getCurrentState()

◆ getCurrentTime()

◆ getDampingFactor()

◆ getDefaultName()

◆ getDMP()

◆ getDMPDim()

◆ getDMPFromDatabase()

◆ getDMPFromDatabaseById()

◆ getDMPFromFile()

◆ getDMPNameList()

◆ getDMPType()

◆ getForceTerm()

◆ getNextState()

◆ getSpringFactor()

◆ getStartPosition()

◆ getTemporalFactor()

◆ getTimeStep()

◆ getTrajGoal()

◆ getTrajStartState()

◆ instantiateDMP()

◆ isDMPExist()

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onExitComponent()

◆ onInitComponent()

◆ readTrajectoryFromFile()

◆ removeDMPFromDatabase()

◆ removeDMPFromDatabaseById()

◆ resetCanonicalValues()

◆ resetTime()

◆ setAmpl()

◆ setCanonicalValues()

◆ setDMPState()

◆ setGoal()

◆ setStartPosition()

◆ setTemporalFactor()

◆ setTimeStep()

◆ storeDMPInDatabase()

◆ storeDMPInFile()

◆ trainDMP()

Member Data Documentation

◆ ctime

◆ dmpDataMemoryPrx

◆ dmpPool

◆ longtermMemoryPrx

◆ timestep

◆ usedDimensions