MP Class Reference

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

Inheritance diagram for MP:

Public Member Functions
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 ()
virtual void	run (MPInputPtr, MPOutputPtr)=0
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

Protected Attributes
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 67 of file MP.h.

Constructor & Destructor Documentation

MP()

MP

(

const MPConfig &

c

)

Definition at line 17 of file MP.cpp.

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~MP()

virtual ~MP ( )

virtualdefault

Member Function Documentation

deserialize()

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

Definition at line 459 of file MP.cpp.

getCanonicalValue()

double getCanonicalValue

(

)

Definition at line 422 of file MP.cpp.

getClassName()

const std::string & getClassName

(

)

const

Definition at line 53 of file MP.cpp.

getConfig()

MPConfig getConfig

(

)

Definition at line 193 of file MP.cpp.

getMPName()

const std::string & getMPName

(

)

const

Definition at line 47 of file MP.cpp.

getNodeSetName()

const std::string & getNodeSetName

(

)

const

Definition at line 59 of file MP.cpp.

getRole()

const std::string & getRole

(

)

const

Definition at line 65 of file MP.cpp.

getStartVec()

std::vector< double > getStartVec

(

)

Definition at line 370 of file MP.cpp.

getWeight()

DVecVec getWeight

(

)

Definition at line 435 of file MP.cpp.

isFinished()

bool isFinished

(

)

status

Definition at line 175 of file MP.cpp.

isFirstRun()

bool isFirstRun

(

)

Definition at line 187 of file MP.cpp.

isRunning()

bool isRunning

(

)

Definition at line 181 of file MP.cpp.

learnFromCSV()

void learnFromCSV

(

const Ice::StringSeq &

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

)

setting

Definition at line 232 of file MP.cpp.

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learnFromTraj()

void learnFromTraj

(

const MPTrajs &

trajs = MPTrajs()

)

Definition at line 199 of file MP.cpp.

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pause()

void pause

(

)

Definition at line 144 of file MP.cpp.

removeAllViaPoint()

void removeAllViaPoint

(

)

Definition at line 415 of file MP.cpp.

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reset()

void reset

(

)

Definition at line 156 of file MP.cpp.

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resume()

void resume

(

)

Definition at line 150 of file MP.cpp.

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run()

virtual void run ( MPInputPtr  , MPOutputPtr    )

pure virtual

Implemented in TSMP, JSMP, and KeypointsMP.

serialize()

std::string serialize

(

const std::string &

mode = "string"

)

Definition at line 441 of file MP.cpp.

setDurationSec()

void setDurationSec

(

Ice::Double

timeDuration

)

Definition at line 90 of file MP.cpp.

setGoal()

void setGoal

(

const DVec &

goals

)

Definition at line 315 of file MP.cpp.

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setRotationWeights()

void setRotationWeights

(

const DVecVec &

weights

)

setStart()

void setStart

(

const DVec &

starts

)

Definition at line 343 of file MP.cpp.

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setStartAndGoal()

void setStartAndGoal	(	const DVec &	starts,
		const DVec &	goals
	)

Definition at line 382 of file MP.cpp.

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setTranslationWeights()

void setTranslationWeights

(

const DVecVec &

weights

)

setViaPoint()

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

Definition at line 389 of file MP.cpp.

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setWeight()

void setWeight

(

const DVecVec &

weights

)

serialze

Definition at line 429 of file MP.cpp.

start() [1/5]

void start

(

)

control

Definition at line 71 of file MP.cpp.

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start() [2/5]

void start

(

const DVec &

goals

)

Definition at line 77 of file MP.cpp.

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start() [3/5]

void start	(	const DVec &	goals,
		const DVec &	starts
	)

parse user defined viapoints from configuration file

overwrite goals and starts if available

prepare execution

set flag

Definition at line 103 of file MP.cpp.

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start() [4/5]

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

Definition at line 96 of file MP.cpp.

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start() [5/5]

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

Definition at line 83 of file MP.cpp.

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stop()

void stop

(

)

Definition at line 138 of file MP.cpp.

trainMP()

void trainMP

(

)

Definition at line 291 of file MP.cpp.

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trainMPFromTraj()

void trainMPFromTraj

(

std::vector< mplib::core::SampledTrajectory > &

trajs

)

Definition at line 257 of file MP.cpp.

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validateInitialState()

virtual void validateInitialState ( const DVec &  starts )

inlinevirtual

Reimplemented in TSMP.

Definition at line 109 of file MP.h.

Member Data Documentation

canonicalValue

double canonicalValue = 1.0

protected

Definition at line 145 of file MP.h.

cfg

MPConfig cfg

protected

Definition at line 134 of file MP.h.

currentState

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

protected

Definition at line 154 of file MP.h.

finished

std::atomic_bool finished = false

protected

Definition at line 143 of file MP.h.

firstRun

std::atomic_bool firstRun = true

protected

Definition at line 146 of file MP.h.

goalSetByUser

std::atomic_bool goalSetByUser {false}

protected

Definition at line 148 of file MP.h.

isDisturbance

bool isDisturbance = false

protected

Definition at line 136 of file MP.h.

mpMutex

MutexType mpMutex

mutableprotected

Definition at line 138 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 151 of file MP.h.

paused

std::atomic_bool paused = false

protected

Definition at line 144 of file MP.h.

running

std::atomic_bool running = false

protected

Definition at line 142 of file MP.h.

targetPoseVec

DVec targetPoseVec

protected

Definition at line 152 of file MP.h.

targetPoseVecInTraj

DVec targetPoseVecInTraj

protected

Definition at line 153 of file MP.h.

userDefinedViaPoints

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

protected

Definition at line 155 of file MP.h.

vmp

VMPPtr vmp

protected

Definition at line 139 of file MP.h.

vmpType

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

protected

Definition at line 140 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