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#include <armarx/control/common/mp/JSMP.h>
Public Member Functions | |
JSMP (const arondto::MPConfig &c) | |
void | run (MPInputPtr, MPOutputPtr) override |
~JSMP () | |
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DVec | deserialize (const std::string &, const std::string &mode="string") |
double | getCanonicalValue () |
std::string | getClassName () |
MPConfig | getConfig () |
std::string | getMPName () |
std::string | getNodeSetName () |
DVecVec | getWeight () |
bool | isFinished () |
void | learnFromCSV (const Ice::StringSeq &fileNames=std::vector< std::string >()) |
setting More... | |
void | learnFromTraj (const MPTrajs &trajs=MPTrajs()) |
MP (const MPConfig &c) | |
void | pause () |
void | removeAllViaPoint () |
void | reset () |
void | resume () |
std::string | serialize (const std::string &mode="string") |
void | setDurationSec (Ice::Double timeDuration) |
void | setGoal (const DVec &goals) |
void | setRotationWeights (const DVecVec &weights) |
void | setStart (const DVec &starts) |
void | setStartAndGoal (const DVec &starts, const DVec &goals) |
void | setTranslationWeights (const DVecVec &weights) |
void | setViaPoint (Ice::Double u, const DVec &viapoint) |
void | setWeight (const DVecVec &weights) |
serialze More... | |
void | start () |
control More... | |
void | start (const DVec &goals) |
void | start (const DVec &goals, const DVec &starts) |
void | start (const DVec &goals, const DVec &starts, Ice::Double timeDuration) |
void | start (const DVec &goals, Ice::Double timeDuration) |
void | stop () |
void | trainMP () |
void | trainMPFromTraj (std::vector< mplib::core::SampledTrajectory > &trajs) |
virtual | ~MP ()=default |
Public Attributes | |
Eigen::Quaterniond | previousAngularVelocity = Eigen::Quaterniond::Identity() |
Additional Inherited Members | |
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double | canonicalValue = 1.0 |
MPConfig | cfg |
std::vector< mplib::representation::MPState > | currentState |
std::atomic_bool | finished = false |
std::atomic_bool | goalSetByUser {false} |
bool | isDisturbance = false |
MutexType | mpMutex |
std::atomic_bool | mpTrained {false} |
Note: if mp is not trained, the dimension is not initialized, thus mp->getDim() is undefined, if you set viapoints you will have memory allocation error. More... | |
std::atomic_bool | paused = false |
std::atomic_bool | running = false |
DVec | targetPoseVec |
DVec | targetPoseVecInTraj |
std::vector< std::pair< double, DVec > > | userDefinedViaPoints |
VMPPtr | vmp |
mplib::representation::VMPType | vmpType = mplib::representation::VMPType::PrincipalComponent |
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overridevirtual |
Eigen::Quaterniond previousAngularVelocity = Eigen::Quaterniond::Identity() |