Brief description of class TaskSpaceDMPController. More...

#include <armarx/control/deprecated_njoint_mp_controller/TaskSpaceVMP.h>

Public Member Functions
std::vector< double >	eigen4f2vec (const Eigen::Matrix4f &pose)

double	flow (double canVal, double deltaT, const Eigen::Matrix4f &currentPose, const Eigen::VectorXf &twist)

void	flow (double deltaT, const Eigen::Matrix4f &currentPose, const Eigen::VectorXf &twist)

DMP::UMITSMPPtr	getDMP ()

Eigen::Matrix4f	getIntegratedPoseMat ()

std::string	getName ()

DMP::DVec2d	getRotWeights ()

std::vector< double >	getTargetPose ()

Eigen::Matrix4f	getTargetPoseMat ()

Eigen::VectorXf	getTargetVelocity ()

DMP::DVec2d	getTranslWeights ()

DMP::DVec2d	getWeights ()

void	learnDMPFromFiles (const std::vector< std::string > &fileNames)

void	learnDMPFromFiles (const std::vector< std::string > &fileNames, const std::vector< double > &ratios)

void	learnDMPFromSampledTrajectory (const DMP::Vec< DMP::SampledTrajectoryV2 > &trajs)

void	learnDMPFromSampledTrajectory (const DMP::Vec< DMP::SampledTrajectoryV2 > &trajs, const std::vector< double > &ratios)

void	learnDMPFromTrajectory (const TrajectoryPtr &traj)

void	loadDMPFromString (const std::string &dmpStr)

void	loadDMPFromXML (const std::string &dmpXML)

void	pauseController ()

void	prepareExecution (const Eigen::Matrix4f &currentPose, const Eigen::Matrix4f &goalPose)

void	prepareExecution (const std::vector< double > &currentPoseVec, const std::vector< double > &goalPoseVec)

void	removeAllViaPoints ()

void	resumeController ()

std::string	saveDMPToString ()

void	saveDMPToXML (const std::string &dmpXML)

void	setAmplitude (double amp)

void	setGoalPose (const Eigen::Matrix4f &goalPose)

void	setGoalPoseVec (const std::vector< double > goalPoseVec)

void	setRatios (const std::vector< double > &ratios)

void	setRotWeights (const std::vector< std::vector< double > > &weights)

void	setSpeed (double times)

void	setTranslWeights (const std::vector< std::vector< double > > &weights)

void	setViaPose (double canVal, const Eigen::Matrix4f &viaPose)

void	setViaPose (double canVal, const std::vector< double > &viaPoseWithQuaternion)

void	setWeights (const std::vector< std::vector< double > > &weights)

	TaskSpaceDMPController (std::string name, const TaskSpaceDMPControllerConfig &config, bool isPhaseStopControl=true)

Public Attributes
double	canVal

TaskSpaceDMPControllerConfig	config

DebugInfo	debugData

std::string	dmpName

DMP::UMITSMPPtr	dmpPtr

bool	isPhaseStopControl

Detailed Description

Brief description of class TaskSpaceDMPController.

Detailed description of class TaskSpaceDMPController.

Definition at line 83 of file TaskSpaceVMP.h.

Constructor & Destructor Documentation

◆ TaskSpaceDMPController()

TaskSpaceDMPController	(	std::string	name,
		const TaskSpaceDMPControllerConfig &	config,
		bool	isPhaseStopControl = `true`
	)

inline

Definition at line 86 of file TaskSpaceVMP.h.

Member Function Documentation

◆ eigen4f2vec()

std::vector< double > eigen4f2vec ( const Eigen::Matrix4f & pose )

Definition at line 454 of file TaskSpaceVMP.cpp.

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◆ flow() [1/2]

double flow	(	double	canVal,
		double	deltaT,
		const Eigen::Matrix4f &	currentPose,
		const Eigen::VectorXf &	twist
	)

Definition at line 45 of file TaskSpaceVMP.cpp.

◆ flow() [2/2]

void flow	(	double	deltaT,
		const Eigen::Matrix4f &	currentPose,
		const Eigen::VectorXf &	twist
	)

Definition at line 37 of file TaskSpaceVMP.cpp.

◆ getDMP()

DMP::UMITSMPPtr getDMP ( )

inline

Definition at line 195 of file TaskSpaceVMP.h.

◆ getIntegratedPoseMat()

Eigen::Matrix4f getIntegratedPoseMat ( )

inline

Definition at line 144 of file TaskSpaceVMP.h.

◆ getName()

std::string getName ( )

inline

Definition at line 115 of file TaskSpaceVMP.h.

◆ getRotWeights()

DMP::DVec2d getRotWeights ( )

inline

Definition at line 250 of file TaskSpaceVMP.h.

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◆ getTargetPose()

std::vector<double> getTargetPose ( )

inline

Definition at line 129 of file TaskSpaceVMP.h.

◆ getTargetPoseMat()

Eigen::Matrix4f getTargetPoseMat ( )

inline

Definition at line 134 of file TaskSpaceVMP.h.

◆ getTargetVelocity()

Eigen::VectorXf getTargetVelocity ( )

inline

Definition at line 124 of file TaskSpaceVMP.h.

◆ getTranslWeights()

DMP::DVec2d getTranslWeights ( )

inline

Definition at line 239 of file TaskSpaceVMP.h.

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◆ getWeights()

DMP::DVec2d getWeights ( )

inline

Definition at line 234 of file TaskSpaceVMP.h.

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◆ learnDMPFromFiles() [1/2]

void learnDMPFromFiles ( const std::vector< std::string > & fileNames )

Definition at line 274 of file TaskSpaceVMP.cpp.

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◆ learnDMPFromFiles() [2/2]

void learnDMPFromFiles	(	const std::vector< std::string > &	fileNames,
		const std::vector< double > &	ratios
	)

Definition at line 231 of file TaskSpaceVMP.cpp.

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◆ learnDMPFromSampledTrajectory() [1/2]

void learnDMPFromSampledTrajectory ( const DMP::Vec< DMP::SampledTrajectoryV2 > & trajs )

◆ learnDMPFromSampledTrajectory() [2/2]

void learnDMPFromSampledTrajectory	(	const DMP::Vec< DMP::SampledTrajectoryV2 > &	trajs,
		const std::vector< double > &	ratios
	)

Definition at line 293 of file TaskSpaceVMP.cpp.

◆ learnDMPFromTrajectory()

void learnDMPFromTrajectory ( const TrajectoryPtr & traj )

Definition at line 308 of file TaskSpaceVMP.cpp.

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◆ loadDMPFromString()

void loadDMPFromString ( const std::string & dmpStr )

Definition at line 331 of file TaskSpaceVMP.cpp.

◆ loadDMPFromXML()

void loadDMPFromXML ( const std::string & dmpXML )

Definition at line 352 of file TaskSpaceVMP.cpp.

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◆ pauseController()

void pauseController ( )

inline

Definition at line 200 of file TaskSpaceVMP.h.

◆ prepareExecution() [1/2]

void prepareExecution	(	const Eigen::Matrix4f &	currentPose,
		const Eigen::Matrix4f &	goalPose
	)

Definition at line 401 of file TaskSpaceVMP.cpp.

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◆ prepareExecution() [2/2]

void prepareExecution	(	const std::vector< double > &	currentPoseVec,
		const std::vector< double > &	goalPoseVec
	)

Definition at line 411 of file TaskSpaceVMP.cpp.

◆ removeAllViaPoints()

void removeAllViaPoints ( )

Definition at line 395 of file TaskSpaceVMP.cpp.

◆ resumeController()

void resumeController ( )

inline

Definition at line 204 of file TaskSpaceVMP.h.

◆ saveDMPToString()

std::string saveDMPToString ( )

Definition at line 343 of file TaskSpaceVMP.cpp.

◆ saveDMPToXML()

void saveDMPToXML ( const std::string & dmpXML )

Definition at line 365 of file TaskSpaceVMP.cpp.

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◆ setAmplitude()

void setAmplitude ( double amp )

Definition at line 444 of file TaskSpaceVMP.cpp.

◆ setGoalPose()

void setGoalPose ( const Eigen::Matrix4f & goalPose )

inline

Definition at line 179 of file TaskSpaceVMP.h.

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◆ setGoalPoseVec()

void setGoalPoseVec ( const std::vector< double > goalPoseVec )

inline

Definition at line 184 of file TaskSpaceVMP.h.

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◆ setRatios()

void setRatios ( const std::vector< double > & ratios )

Definition at line 302 of file TaskSpaceVMP.cpp.

◆ setRotWeights()

void setRotWeights ( const std::vector< std::vector< double > > & weights )

inline

Definition at line 224 of file TaskSpaceVMP.h.

◆ setSpeed()

void setSpeed ( double times )

Definition at line 433 of file TaskSpaceVMP.cpp.

◆ setTranslWeights()

void setTranslWeights ( const std::vector< std::vector< double > > & weights )

inline

Definition at line 214 of file TaskSpaceVMP.h.

◆ setViaPose() [1/2]

void setViaPose	(	double	canVal,
		const Eigen::Matrix4f &	viaPose
	)

Definition at line 377 of file TaskSpaceVMP.cpp.

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◆ setViaPose() [2/2]

void setViaPose	(	double	canVal,
		const std::vector< double > &	viaPoseWithQuaternion
	)

Definition at line 384 of file TaskSpaceVMP.cpp.

◆ setWeights()

void setWeights ( const std::vector< std::vector< double > > & weights )

inline

Definition at line 209 of file TaskSpaceVMP.h.

Member Data Documentation

◆ canVal

double canVal

Definition at line 261 of file TaskSpaceVMP.h.

◆ config

TaskSpaceDMPControllerConfig config

Definition at line 265 of file TaskSpaceVMP.h.

◆ debugData

DebugInfo debugData

Definition at line 192 of file TaskSpaceVMP.h.

◆ dmpName

std::string dmpName

Definition at line 263 of file TaskSpaceVMP.h.

◆ dmpPtr

DMP::UMITSMPPtr dmpPtr

Definition at line 264 of file TaskSpaceVMP.h.

◆ isPhaseStopControl

bool isPhaseStopControl

Definition at line 262 of file TaskSpaceVMP.h.

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

armarx/control/deprecated_njoint_mp_controller/TaskSpaceVMP.h
armarx/control/deprecated_njoint_mp_controller/TaskSpaceVMP.cpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TaskSpaceDMPController()

Member Function Documentation

◆ eigen4f2vec()

◆ flow() [1/2]

◆ flow() [2/2]

◆ getDMP()

◆ getIntegratedPoseMat()

◆ getName()

◆ getRotWeights()

◆ getTargetPose()

◆ getTargetPoseMat()

◆ getTargetVelocity()

◆ getTranslWeights()

◆ getWeights()

◆ learnDMPFromFiles() [1/2]

◆ learnDMPFromFiles() [2/2]

◆ learnDMPFromSampledTrajectory() [1/2]

◆ learnDMPFromSampledTrajectory() [2/2]

◆ learnDMPFromTrajectory()

◆ loadDMPFromString()

◆ loadDMPFromXML()

◆ pauseController()

◆ prepareExecution() [1/2]

◆ prepareExecution() [2/2]

◆ removeAllViaPoints()

◆ resumeController()

◆ saveDMPToString()

◆ saveDMPToXML()

◆ setAmplitude()

◆ setGoalPose()

◆ setGoalPoseVec()

◆ setRatios()

◆ setRotWeights()

◆ setSpeed()

◆ setTranslWeights()

◆ setViaPose() [1/2]

◆ setViaPose() [2/2]

◆ setWeights()

Member Data Documentation

◆ canVal

◆ config

◆ debugData

◆ dmpName

◆ dmpPtr

◆ isPhaseStopControl