#include <armarx/control/common/mp/JSMP.h>

Inheritance diagram for JSMP:

Public Member Functions
	JSMP (const arondto::MPConfig &c)

void	run (MPInputPtr, MPOutputPtr) override

	~JSMP ()

Public Member Functions inherited from MP
DVec	deserialize (const std::string &, const std::string &mode="string")

double	getCanonicalValue ()

const std::string &	getClassName () const

MPConfig	getConfig ()

const std::string &	getMPName () const

const std::string &	getNodeSetName () const

const std::string &	getRole () const

std::vector< double >	getStartVec ()

DVecVec	getWeight ()

bool	isFinished ()
	status More...

bool	isFirstRun ()

bool	isRunning ()

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 void	validateInitialState (const DVec &starts)

virtual	~MP ()=default

Public Attributes
Eigen::Quaterniond	previousAngularVelocity = Eigen::Quaterniond::Identity()

Additional Inherited Members
Protected Attributes inherited from MP
double	canonicalValue = 1.0

MPConfig	cfg

std::vector< mplib::representation::MPState >	currentState

std::atomic_bool	finished = false

std::atomic_bool	firstRun = true

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

Detailed Description

Definition at line 50 of file JSMP.h.

Constructor & Destructor Documentation

◆ JSMP()

JSMP ( const arondto::MPConfig & c )

Definition at line 15 of file JSMP.cpp.

◆ ~JSMP()

~JSMP ( )

inline

Definition at line 54 of file JSMP.h.

Member Function Documentation

◆ run()

void run	(	MPInputPtr	input,
		MPOutputPtr	output
	)

overridevirtual

Implements MP.

Definition at line 31 of file JSMP.cpp.

Member Data Documentation

◆ previousAngularVelocity

Eigen::Quaterniond previousAngularVelocity = Eigen::Quaterniond::Identity()

Definition at line 58 of file JSMP.h.

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

armarx/control/common/mp/JSMP.h
armarx/control/common/mp/JSMP.cpp

Public Member Functions

Public Attributes

Additional Inherited Members