Wrapper for the KBM class. More...

#include <MemoryX/components/KBMComponent/KBMComponent.h>

Inheritance diagram for KBMComponent:

Public Member Functions
void	accumulateEvaluationPositions (const std::vector< memoryx::KBM::Real > &positionSequence, const Ice::Current &c=Ice::emptyCurrent) override
	accumulates the given position in the evaluation accumulator More...

void	accumulateEvaluationProprioceptions (const std::vector< memoryx::KBM::Real > &proprioceptions, const Ice::Current &c=Ice::emptyCurrent) override
	accumualteProprioceptions accumulates proprioceptions in the evaluate accumulator More...

void	accumulatePositions (const std::vector< memoryx::KBM::Real > &positionSequence, const Ice::Current &c=Ice::emptyCurrent) override
	accumulate adds the given position to the accumulator to use it later More...

void	accumulateProprioceptions (const std::vector< memoryx::KBM::Real > &proprioceptions, const Ice::Current &c=Ice::emptyCurrent) override
	accumualteProprioceptions accumulates proprioceptions More...

void	accumulateRawJointValues (const std::vector< memoryx::KBM::Real > &rawJointValuesSequence, const Ice::Current &c=Ice::emptyCurrent) override
	accumualteRawJointValues accumulates raw joint values that will be transformed to proprioceptions later More...

void	batch (const std::string &name, const std::vector< memoryx::KBM::Real > &proprioceptionSequence, const std::vector< memoryx::KBM::Real > &positionSequence, Ice::Int method, Ice::Float threshold, const Ice::Current &c=Ice::emptyCurrent) override
	batch learning of n training samples More...

void	batchAccumulator (const std::string &name, Ice::Int method, Ice::Float threshold, const Ice::Current &c=Ice::emptyCurrent) override
	the same as batch but with the data from the accumulator More...

void	clearAccumulators (const Ice::Current &c) override
	Clears the accumulators. More...

void	createArmar3KBM (const std::string &name, const Ice::StringSeq &robotNodeNames, const std::vector< memoryx::KBM::Real > &jointValueAverages, const std::vector< memoryx::KBM::Real > &spreadAnglesSequence, const std::string &tcpName, bool useOrientation, const Ice::Current &c=Ice::emptyCurrent) override
	createArmar3KBM creates a KBM from a VirtualRobot model More...

void	createKBM (const std::string &name, Ice::Int nDoF, Ice::Int dim, Ice::Float spreadAngle, const Ice::Current &c=Ice::emptyCurrent) override
	createKBM creates a new KBM and makes it available under the given name More...

std::string	getDefaultName () const override

Ice::DoubleSeq	getRawJointValuesAverages (int nDoF, const Ice::Current &c=Ice::emptyCurrent) override
	getRawJointValuesAverages calculates the average raw joint values for each joint from the data stored in the raw joint values accumulator. More...

Ice::DoubleSeq	getSpreadAngles (int nDoF, const Ice::Current &c=Ice::emptyCurrent) override
	getSpreadAngles returns the spreadAngles calculated using the data in the proprioceptionAccumulator More...

bool	isInMemory (const std::string &nodeSetName, const std::string &referenceFrameName, const std::string &robotName, const Ice::Current &c) override

Ice::StringSeq	kbmNames (const Ice::Current &c) override
	Returns the names of the existing KBMs. More...

void	online (const std::string &name, const std::vector< memoryx::KBM::Real > &proprioceptionSequence, const std::vector< memoryx::KBM::Real > &positionSequence, Ice::Float learningRate, const Ice::Current &c=Ice::emptyCurrent) override
	online learning of n training samples More...

void	onlineAccumulator (const std::string &name, Ice::Float learningRate, const Ice::Current &c=Ice::emptyCurrent) override
	onlineAccumulator calls online after transforming the raw joint accumulator to proprioceptions More...

void	onlineAccumulatorVerbose (const std::string &name, Ice::Float learningRate, const Ice::Current &c=Ice::emptyCurrent) override
	onlineAccumulatorVerbose same as onlineAccumulator, but evaluates after each learning step More...

void	onlineVerbose (const std::string &name, const std::vector< memoryx::KBM::Real > &proprioceptionSequence, const std::vector< memoryx::KBM::Real > &positionSequence, Ice::Float learningRate, const std::vector< memoryx::KBM::Real > &evaluationProprioceptionSequence, const std::vector< memoryx::KBM::Real > &evaluationPositionSequence, const Ice::Current &c=Ice::emptyCurrent) override
	same as online, but evaluates after each learning iteration More...

std::vector< memoryx::KBM::Real >	predict (const std::string &name, const std::vector< memoryx::KBM::Real > &proprioceptionSequence, const Ice::Current &c=Ice::emptyCurrent) override
	predict the position for n samples of proprioception (forward kinematics) More...

void	predictAccumulator (const std::string &name, const Ice::Current &c=Ice::emptyCurrent) override
	the same as predict but with the data from the accumulator, however the results are currently just printed and not returned More...

void	printAccumulatorStatistics (int nDim, int nDoF, const Ice::Current &c=Ice::emptyCurrent) override
	printAccumulatorStatistics prints information about the values in the accumulators More...

void	printErrors (const std::string &name, const std::vector< memoryx::KBM::Real > &proprioceptionSequence, const std::vector< memoryx::KBM::Real > &positionSequence, const Ice::Current &c=Ice::emptyCurrent) override
	calls getErrors on the KBM and prints the result More...

void	printErrorsAccumulator (const std::string &name, const Ice::Current &c=Ice::emptyCurrent) override
	the same as printErrors but with the data from the accumulator More...

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

void	setPositionLimits (int nDim, const Ice::Current &c=Ice::emptyCurrent) override
	setPositionLimits sets the position limits using the data in the position accumulator More...

void	setProprioceptionAccumulatorFromRawJointAccumulator (const std::vector< memoryx::KBM::Real > &rawJointValuesAverages, const Ice::Current &c=Ice::emptyCurrent) override
	setProprioceptionAccumulatorFromRawJointAccumulator updates the proprioception accumulator More...

std::vector< memoryx::KBM::Real >	solveDifferentialIK (const std::string &name, const std::vector< memoryx::KBM::Real > &targetPosition, const std::vector< memoryx::KBM::Real > &currentPosition, const std::vector< memoryx::KBM::Real > &proprioceptionSequence, const std::vector< memoryx::KBM::Real > &lowerProprioceptionLimitsSequence, const std::vector< memoryx::KBM::Real > &upperProprioceptionLimitsSequence, const Ice::Current &c=Ice::emptyCurrent) override
	solveDifferentialIK solves the differential inverse kinematics for the given position More...

std::vector< memoryx::KBM::Real >	solveGlobalIK (const std::string &name, const std::vector< memoryx::KBM::Real > &targetPosition, const Ice::Current &c=Ice::emptyCurrent) override
	solveGlobalIK solves the global inverse kinematics for the given position More...

void	storeToMemory (const std::string &, const std::string &, const std::string &, const std::string &, const Ice::Current &) 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

Protected Member Functions
armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override

memoryx::KBM::Models::KBM_ptr	getKBM (const std::string &name)
	returns a pointer to the KBM with the given name if it exists or a nullptr if it doesn't More...

Eigen::Map< const memoryx::KBM::Matrix >	mapMatrix (int rows, const std::vector< memoryx::KBM::Real > &data)
	maps a sequence to an Eigen::Map More...

Eigen::Map< const memoryx::KBM::Vector >	mapPosition (const memoryx::KBM::Models::KBM &kbm, const std::vector< memoryx::KBM::Real > &position)
	mapPosition converts the position sequence into an Eigen::Map of a Vector More...

Eigen::Map< const memoryx::KBM::Matrix >	mapPositions (const memoryx::KBM::Models::KBM &kbm, const std::vector< memoryx::KBM::Real > &position)
	mapPositions converts the position sequence into an Eigen::Map of a Matrix More...

Eigen::Map< const memoryx::KBM::Vector >	mapProprioception (const memoryx::KBM::Models::KBM &kbm, const std::vector< memoryx::KBM::Real > &proprioception)
	mapProprioception converts the proprioception sequence into an Eigen::Map of a Vector More...

Eigen::Map< const memoryx::KBM::Matrix >	mapProprioceptions (const memoryx::KBM::Models::KBM &kbm, const std::vector< memoryx::KBM::Real > &proprioception)
	mapProprioceptions converts the proprioception sequence into an Eigen::Map of a Matrix More...

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

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...

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Detailed Description

Wrapper for the KBM class.

Definition at line 167 of file KBMComponent.h.

Member Function Documentation

◆ accumulateEvaluationPositions()

void accumulateEvaluationPositions	(	const std::vector< memoryx::KBM::Real > &	positionSequence,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

accumulates the given position in the evaluation accumulator

Parameters

position length must be Dim * n

Definition at line 809 of file KBMComponent.cpp.

◆ accumulateEvaluationProprioceptions()

void accumulateEvaluationProprioceptions	(	const std::vector< memoryx::KBM::Real > &	proprioceptions,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

accumualteProprioceptions accumulates proprioceptions in the evaluate accumulator

Definition at line 819 of file KBMComponent.cpp.

◆ accumulatePositions()

void accumulatePositions	(	const std::vector< memoryx::KBM::Real > &	positionSequence,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

accumulate adds the given position to the accumulator to use it later

Parameters

position length must be Dim * n

Definition at line 779 of file KBMComponent.cpp.

◆ accumulateProprioceptions()

void accumulateProprioceptions	(	const std::vector< memoryx::KBM::Real > &	proprioceptions,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

accumualteProprioceptions accumulates proprioceptions

Definition at line 789 of file KBMComponent.cpp.

◆ accumulateRawJointValues()

void accumulateRawJointValues	(	const std::vector< memoryx::KBM::Real > &	rawJointValuesSequence,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

accumualteRawJointValues accumulates raw joint values that will be transformed to proprioceptions later

Definition at line 799 of file KBMComponent.cpp.

◆ batch()

void batch	(	const std::string &	name,
		const std::vector< memoryx::KBM::Real > &	proprioceptionSequence,
		const std::vector< memoryx::KBM::Real > &	positionSequence,
		Ice::Int	method,
		Ice::Float	threshold,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

batch learning of n training samples

Parameters

name	the name of the KBM
proprioception	length must be DoF * n
position	length must be Dim * n
method	will be mapped to the Enum in the KBM class, currently 0 = STANDARD, 1 = PLS
threshold	should equal the expected mean positioning error

Definition at line 327 of file KBMComponent.cpp.

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◆ batchAccumulator()

void batchAccumulator	(	const std::string &	name,
		Ice::Int	method,
		Ice::Float	threshold,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

the same as batch but with the data from the accumulator

Definition at line 753 of file KBMComponent.cpp.

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◆ clearAccumulators()

void clearAccumulators ( const Ice::Current & c )

override

Clears the accumulators.

Definition at line 1384 of file KBMComponent.cpp.

◆ createArmar3KBM()

void createArmar3KBM	(	const std::string &	name,
		const Ice::StringSeq &	robotNodeNames,
		const std::vector< memoryx::KBM::Real > &	jointValueAverages,
		const std::vector< memoryx::KBM::Real > &	spreadAnglesSequence,
		const std::string &	tcpName,
		bool	useOrientation,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

createArmar3KBM creates a KBM from a VirtualRobot model

Parameters

name	the KBM will be available under this name
activeJoints	the names of the joints that are used
tcpName	name of the joint that corresponds best to the tool center point
useOrientation	use only the position (3 dimensions) or position and orientation (9 dimensions in total)

Definition at line 181 of file KBMComponent.cpp.

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◆ createKBM()

void createKBM	(	const std::string &	name,
		Ice::Int	nDoF,
		Ice::Int	dim,
		Ice::Float	spreadAngle,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

createKBM creates a new KBM and makes it available under the given name

Parameters

name	the name of the KBM
nDoF	degrees of freedom
dim	dimensions
spreadAngle	the common spreadAngle for joints

Definition at line 157 of file KBMComponent.cpp.

◆ createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

overrideprotectedvirtual

See also: PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

Definition at line 68 of file KBMComponent.cpp.

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◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

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

Implements ManagedIceObject.

Definition at line 175 of file KBMComponent.h.

◆ getKBM()

memoryx::KBM::Models::KBM_ptr getKBM ( const std::string & name )

protected

returns a pointer to the KBM with the given name if it exists or a nullptr if it doesn't

Parameters

name	the name of the KBM

Returns: pointer to the KBM or nullptr

Definition at line 135 of file KBMComponent.cpp.

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◆ getRawJointValuesAverages()

Ice::DoubleSeq getRawJointValuesAverages	(	int	nDoF,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

getRawJointValuesAverages calculates the average raw joint values for each joint from the data stored in the raw joint values accumulator.

Definition at line 650 of file KBMComponent.cpp.

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◆ getSpreadAngles()

Ice::DoubleSeq getSpreadAngles	(	int	nDoF,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

getSpreadAngles returns the spreadAngles calculated using the data in the proprioceptionAccumulator

Definition at line 664 of file KBMComponent.cpp.

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◆ isInMemory()

bool isInMemory	(	const std::string &	nodeSetName,
		const std::string &	referenceFrameName,
		const std::string &	robotName,
		const Ice::Current &	c
	)

override

Definition at line 1446 of file KBMComponent.cpp.

◆ kbmNames()

Ice::StringSeq kbmNames ( const Ice::Current & c )

override

Returns the names of the existing KBMs.

Definition at line 1372 of file KBMComponent.cpp.

◆ mapMatrix()

Eigen::Map< const memoryx::KBM::Matrix > mapMatrix	(	int	rows,
		const std::vector< memoryx::KBM::Real > &	data
	)

protected

maps a sequence to an Eigen::Map

Definition at line 122 of file KBMComponent.cpp.

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◆ mapPosition()

Eigen::Map< const memoryx::KBM::Vector > mapPosition	(	const memoryx::KBM::Models::KBM &	kbm,
		const std::vector< memoryx::KBM::Real > &	position
	)

protected

mapPosition converts the position sequence into an Eigen::Map of a Vector

Parameters

kbm	the dimension of this KBM will be used
position	the position sequence

Returns: the map

Definition at line 82 of file KBMComponent.cpp.

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◆ mapPositions()

Eigen::Map< const memoryx::KBM::Matrix > mapPositions	(	const memoryx::KBM::Models::KBM &	kbm,
		const std::vector< memoryx::KBM::Real > &	position
	)

protected

mapPositions converts the position sequence into an Eigen::Map of a Matrix

Parameters

kbm	the dimension of this KBM will be used
position	the position sequence

Returns: the map

Definition at line 96 of file KBMComponent.cpp.

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◆ mapProprioception()

Eigen::Map< const memoryx::KBM::Vector > mapProprioception	(	const memoryx::KBM::Models::KBM &	kbm,
		const std::vector< memoryx::KBM::Real > &	proprioception
	)

protected

mapProprioception converts the proprioception sequence into an Eigen::Map of a Vector

Parameters

kbm	the DoF of this KBM will be used
proprioception	the proprioception sequence

Returns: the map

Definition at line 89 of file KBMComponent.cpp.

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◆ mapProprioceptions()

Eigen::Map< const memoryx::KBM::Matrix > mapProprioceptions	(	const memoryx::KBM::Models::KBM &	kbm,
		const std::vector< memoryx::KBM::Real > &	proprioception
	)

protected

mapProprioceptions converts the proprioception sequence into an Eigen::Map of a Matrix

Parameters

kbm	the DoF of this KBM will be used
proprioception	the proprioception sequence

Returns: the map

Definition at line 109 of file KBMComponent.cpp.

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◆ onConnectComponent()

void onConnectComponent ( )

overrideprotectedvirtual

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

Implements ManagedIceObject.

Definition at line 52 of file KBMComponent.cpp.

◆ onDisconnectComponent()

void onDisconnectComponent ( )

overrideprotectedvirtual

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

Reimplemented from ManagedIceObject.

Definition at line 59 of file KBMComponent.cpp.

◆ onExitComponent()

void onExitComponent ( )

overrideprotectedvirtual

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

Reimplemented from ManagedIceObject.

Definition at line 64 of file KBMComponent.cpp.

◆ onInitComponent()

void onInitComponent ( )

overrideprotectedvirtual

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

Implements ManagedIceObject.

Definition at line 45 of file KBMComponent.cpp.

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◆ online()

void online	(	const std::string &	name,
		const std::vector< memoryx::KBM::Real > &	proprioceptionSequence,
		const std::vector< memoryx::KBM::Real > &	positionSequence,
		Ice::Float	learningRate,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

online learning of n training samples

Parameters

name	the name of the KBM
proprioception	length must be DoF * n
position	length must be Dim * n
learnRate	learning rate between 0 and 1

Definition at line 368 of file KBMComponent.cpp.

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◆ onlineAccumulator()

void onlineAccumulator	(	const std::string &	name,
		Ice::Float	learningRate,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

onlineAccumulator calls online after transforming the raw joint accumulator to proprioceptions

Definition at line 739 of file KBMComponent.cpp.

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◆ onlineAccumulatorVerbose()

void onlineAccumulatorVerbose	(	const std::string &	name,
		Ice::Float	learningRate,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

onlineAccumulatorVerbose same as onlineAccumulator, but evaluates after each learning step

Definition at line 746 of file KBMComponent.cpp.

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◆ onlineVerbose()

void onlineVerbose	(	const std::string &	name,
		const std::vector< memoryx::KBM::Real > &	proprioceptionSequence,
		const std::vector< memoryx::KBM::Real > &	positionSequence,
		Ice::Float	learningRate,
		const std::vector< memoryx::KBM::Real > &	evaluationProprioceptionSequence,
		const std::vector< memoryx::KBM::Real > &	evaluationPositionSequence,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

same as online, but evaluates after each learning iteration

Parameters

name	the name of the KBM
proprioception	length must be DoF * n
position	length must be Dim * n
learnRate	learning rate between 0 and 1

Definition at line 409 of file KBMComponent.cpp.

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◆ predict()

std::vector< memoryx::KBM::Real > predict	(	const std::string &	name,
		const std::vector< memoryx::KBM::Real > &	proprioceptionSequence,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

predict the position for n samples of proprioception (forward kinematics)

Parameters

name	the name of the KBM
proprioception	length must be DoF * n

Returns: the predicted position with length Dim * n

Definition at line 557 of file KBMComponent.cpp.

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◆ predictAccumulator()

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

override

the same as predict but with the data from the accumulator, however the results are currently just printed and not returned

Definition at line 766 of file KBMComponent.cpp.

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◆ printAccumulatorStatistics()

void printAccumulatorStatistics	(	int	nDim,
		int	nDoF,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

printAccumulatorStatistics prints information about the values in the accumulators

Definition at line 634 of file KBMComponent.cpp.

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◆ printErrors()

void printErrors	(	const std::string &	name,
		const std::vector< memoryx::KBM::Real > &	proprioceptionSequence,
		const std::vector< memoryx::KBM::Real > &	positionSequence,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

calls getErrors on the KBM and prints the result

Parameters

name	the name of the KBM
proprioception	the proprioception to pass to getErrors
position	the position to pass to getErrors

Definition at line 591 of file KBMComponent.cpp.

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◆ printErrorsAccumulator()

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

override

the same as printErrors but with the data from the accumulator

Definition at line 761 of file KBMComponent.cpp.

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◆ restoreFromMemory()

void restoreFromMemory	(	const std::string &	kbmName,
		const std::string &	nodeSetName,
		const std::string &	referenceFrameName,
		const std::string &	robotName,
		const Ice::Current &	c
	)

override

Definition at line 1414 of file KBMComponent.cpp.

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◆ setPositionLimits()

void setPositionLimits	(	int	nDim,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

setPositionLimits sets the position limits using the data in the position accumulator

Definition at line 730 of file KBMComponent.cpp.

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◆ setProprioceptionAccumulatorFromRawJointAccumulator()

void setProprioceptionAccumulatorFromRawJointAccumulator	(	const std::vector< memoryx::KBM::Real > &	rawJointValuesAverages,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

setProprioceptionAccumulatorFromRawJointAccumulator updates the proprioception accumulator

Definition at line 689 of file KBMComponent.cpp.

◆ solveDifferentialIK()

std::vector< memoryx::KBM::Real > solveDifferentialIK	(	const std::string &	name,
		const std::vector< memoryx::KBM::Real > &	targetPosition,
		const std::vector< memoryx::KBM::Real > &	currentPosition,
		const std::vector< memoryx::KBM::Real > &	proprioceptionSequence,
		const std::vector< memoryx::KBM::Real > &	lowerProprioceptionLimitsSequence,
		const std::vector< memoryx::KBM::Real > &	upperProprioceptionLimitsSequence,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

solveDifferentialIK solves the differential inverse kinematics for the given position

Parameters

name	the name of the KBM
targetPosition
currentPosition
currentProprioception

Returns: the proprioception

Definition at line 873 of file KBMComponent.cpp.

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◆ solveGlobalIK()

std::vector< memoryx::KBM::Real > solveGlobalIK	(	const std::string &	name,
		const std::vector< memoryx::KBM::Real > &	targetPosition,
		const Ice::Current &	c = `Ice::emptyCurrent`
	)

override

solveGlobalIK solves the global inverse kinematics for the given position

Parameters

name	the name of the KBM
targetPosition

Returns: the proprioception

Definition at line 829 of file KBMComponent.cpp.

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◆ storeToMemory()

void storeToMemory	(	const std::string &	kbmName,
		const std::string &	nodeSetName,
		const std::string &	referenceFrameName,
		const std::string &	robotName,
		const Ice::Current &	c
	)

override

Definition at line 1391 of file KBMComponent.cpp.

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

MemoryX/components/KBMComponent/KBMComponent.h
MemoryX/components/KBMComponent/KBMComponent.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ accumulateEvaluationPositions()

◆ accumulateEvaluationProprioceptions()

◆ accumulatePositions()

◆ accumulateProprioceptions()

◆ accumulateRawJointValues()

◆ batch()

◆ batchAccumulator()

◆ clearAccumulators()

◆ createArmar3KBM()

◆ createKBM()

◆ createPropertyDefinitions()

◆ getDefaultName()

◆ getKBM()

◆ getRawJointValuesAverages()

◆ getSpreadAngles()

◆ isInMemory()

◆ kbmNames()

◆ mapMatrix()

◆ mapPosition()

◆ mapPositions()

◆ mapProprioception()

◆ mapProprioceptions()

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onExitComponent()

◆ onInitComponent()

◆ online()

◆ onlineAccumulator()

◆ onlineAccumulatorVerbose()

◆ onlineVerbose()

◆ predict()

◆ predictAccumulator()

◆ printAccumulatorStatistics()

◆ printErrors()

◆ printErrorsAccumulator()

◆ restoreFromMemory()

◆ setPositionLimits()

◆ setProprioceptionAccumulatorFromRawJointAccumulator()

◆ solveDifferentialIK()

◆ solveGlobalIK()

◆ storeToMemory()