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

Inheritance diagram for TSMP:

Public Member Functions
void	run (MPInputPtr, MPOutputPtr) override

	TSMP (const MPConfig &c)

void	validateInitialState (const DVec &starts) override

	~TSMP ()

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	~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 51 of file TSMP.h.

Constructor & Destructor Documentation

◆ TSMP()

TSMP ( const MPConfig & c )

Definition at line 18 of file TSMP.cpp.

◆ ~TSMP()

~TSMP ( )

inline

Definition at line 55 of file TSMP.h.

Member Function Documentation

◆ run()

void run	(	MPInputPtr	input,
		MPOutputPtr	output
	)

overridevirtual

Implements MP.

Definition at line 46 of file TSMP.cpp.

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◆ validateInitialState()

void validateInitialState ( const DVec & starts )

overridevirtual

Reimplemented from MP.

Definition at line 38 of file TSMP.cpp.

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Member Data Documentation

◆ previousAngularVelocity

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

Definition at line 60 of file TSMP.h.

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

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

Public Member Functions

Public Attributes

Additional Inherited Members