MP Class Reference

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

Inheritance diagram for MP:

Classes
struct	DictViaPoint
struct	ListViaPoint
struct	MPConfig
struct	MPListConfig

Public Member Functions
Ice::DoubleSeq	deserialize (const std::string &, const std::string &mode="string")
double	getCanonicalValue ()
std::string	getClassName ()
std::string	getMPName ()
DoubleSeqSeq	getWeight ()
bool	isFinished ()
void	learnFromCSV (const Ice::StringSeq &fileNames=std::vector< std::string >())
	setting More...
	MP (const MPConfig &c)
void	pause ()
void	removeAllViaPoint ()
void	reset ()
void	resume ()
virtual void	run (MPInputPtr, MPOutputPtr)=0
std::string	serialize (const std::string &mode="string")
void	setGoal (const Ice::DoubleSeq &goals)
void	setRotationWeights (const std::vector< std::vector< double >> &weights)
void	setStart (const Ice::DoubleSeq &starts)
void	setStartAndGoal (const Ice::DoubleSeq &starts, const Ice::DoubleSeq &goals)
void	setTranslationWeights (const std::vector< std::vector< double >> &weights)
void	setViaPoint (Ice::Double u, const Ice::DoubleSeq &viapoint)
void	setWeight (const std::vector< std::vector< double >> &weights)
	serialze More...
void	start ()
	control More...
void	start (const Ice::DoubleSeq &goals)
void	start (const Ice::DoubleSeq &goals, const Ice::DoubleSeq &starts)
void	start (const Ice::DoubleSeq &goals, const Ice::DoubleSeq &starts, Ice::Double timeDuration)
void	start (const Ice::DoubleSeq &goals, Ice::Double timeDuration)
void	stop ()
virtual	~MP ()=default

Protected Attributes
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
mplib::core::DVec	targetPoseVec
mplib::core::DVec	targetPoseVecInTraj
std::vector< std::pair< double, mplib::core::DVec > >	userDefinedViaPoints
VMPPtr	vmp
mplib::representation::VMPType	vmpType = mplib::representation::VMPType::PrincipalComponent

Detailed Description

Definition at line 48 of file MP.h.

Constructor & Destructor Documentation

MP()

MP

(

const MPConfig &

c

)

Definition at line 16 of file MP.cpp.

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~MP()

virtual ~MP ( )

virtualdefault

Member Function Documentation

deserialize()

Ice::DoubleSeq deserialize	(	const std::string &	mpString,
		const std::string &	mode = "string"
	)

Definition at line 295 of file MP.cpp.

getCanonicalValue()

double getCanonicalValue

(

)

Definition at line 262 of file MP.cpp.

getClassName()

std::string getClassName

(

)

Definition at line 44 of file MP.cpp.

getMPName()

std::string getMPName

(

)

Definition at line 39 of file MP.cpp.

getWeight()

DoubleSeqSeq getWeight

(

)

Definition at line 273 of file MP.cpp.

isFinished()

bool isFinished

(

)

Definition at line 134 of file MP.cpp.

learnFromCSV()

void learnFromCSV

(

const Ice::StringSeq &

fileNames = std::vector<std::string>()

)

setting

Definition at line 139 of file MP.cpp.

pause()

void pause

(

)

Definition at line 106 of file MP.cpp.

removeAllViaPoint()

void removeAllViaPoint

(

)

Definition at line 256 of file MP.cpp.

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reset()

void reset

(

)

Definition at line 116 of file MP.cpp.

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resume()

void resume

(

)

Definition at line 111 of file MP.cpp.

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run()

virtual void run ( MPInputPtr  , MPOutputPtr    )

pure virtual

Implemented in JSMP, TSMP, and KeypointsMP.

serialize()

std::string serialize

(

const std::string &

mode = "string"

)

Definition at line 278 of file MP.cpp.

setGoal()

void setGoal

(

const Ice::DoubleSeq &

goals

)

Definition at line 189 of file MP.cpp.

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setRotationWeights()

void setRotationWeights

(

const std::vector< std::vector< double >> &

weights

)

setStart()

void setStart

(

const Ice::DoubleSeq &

starts

)

Definition at line 212 of file MP.cpp.

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setStartAndGoal()

void setStartAndGoal	(	const Ice::DoubleSeq &	starts,
		const Ice::DoubleSeq &	goals
	)

Definition at line 230 of file MP.cpp.

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setTranslationWeights()

void setTranslationWeights

(

const std::vector< std::vector< double >> &

weights

)

setViaPoint()

void setViaPoint	(	Ice::Double	u,
		const Ice::DoubleSeq &	viapoint
	)

Definition at line 236 of file MP.cpp.

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setWeight()

void setWeight

(

const std::vector< std::vector< double >> &

weights

)

serialze

Definition at line 268 of file MP.cpp.

start() [1/5]

void start

(

)

control

Definition at line 49 of file MP.cpp.

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start() [2/5]

void start

(

const Ice::DoubleSeq &

goals

)

Definition at line 54 of file MP.cpp.

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start() [3/5]

void start	(	const Ice::DoubleSeq &	goals,
		const Ice::DoubleSeq &	starts
	)

parse user defined viapoints from configuration file

overwrite goals and starts if available

prepare execution

set flag

Definition at line 71 of file MP.cpp.

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start() [4/5]

void start	(	const Ice::DoubleSeq &	goals,
		const Ice::DoubleSeq &	starts,
		Ice::Double	timeDuration
	)

Definition at line 65 of file MP.cpp.

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start() [5/5]

void start	(	const Ice::DoubleSeq &	goals,
		Ice::Double	timeDuration
	)

Definition at line 59 of file MP.cpp.

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stop()

void stop

(

)

Definition at line 101 of file MP.cpp.

Member Data Documentation

canonicalValue

double canonicalValue = 1.0

protected

Definition at line 170 of file MP.h.

cfg

MPConfig cfg

protected

Definition at line 159 of file MP.h.

currentState

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

protected

Definition at line 178 of file MP.h.

finished

std::atomic_bool finished = false

protected

Definition at line 168 of file MP.h.

goalSetByUser

std::atomic_bool goalSetByUser {false}

protected

Definition at line 172 of file MP.h.

isDisturbance

bool isDisturbance = false

protected

Definition at line 161 of file MP.h.

mpMutex

MutexType mpMutex

mutableprotected

Definition at line 163 of file MP.h.

mpTrained

std::atomic_bool mpTrained {false}

protected

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.

So make sure mp is trained before setting any viapoint.

Definition at line 175 of file MP.h.

paused

std::atomic_bool paused = false

protected

Definition at line 169 of file MP.h.

running

std::atomic_bool running = false

protected

Definition at line 167 of file MP.h.

targetPoseVec

mplib::core::DVec targetPoseVec

protected

Definition at line 176 of file MP.h.

targetPoseVecInTraj

mplib::core::DVec targetPoseVecInTraj

protected

Definition at line 177 of file MP.h.

userDefinedViaPoints

std::vector<std::pair<double, mplib::core::DVec> > userDefinedViaPoints

protected

Definition at line 179 of file MP.h.

vmp

VMPPtr vmp

protected

Definition at line 164 of file MP.h.

vmpType

mplib::representation::VMPType vmpType = mplib::representation::VMPType::PrincipalComponent

protected

Definition at line 165 of file MP.h.

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

• armarx/control/common/mp/MP.h
• armarx/control/common/mp/MP.cpp