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MotionModelKBM Class Reference

#include <MemoryX/libraries/motionmodels/MotionModelKBM.h>

+ Inheritance diagram for MotionModelKBM:

Public Member Functions

AbstractMotionModel::EMotionModelType getMotionModelType () override
 
 MotionModelKBM (std::string referenceNodeName, std::string nodeSetName, armarx::RobotStateComponentInterfacePrx robotStateProxy, memoryx::LongtermMemoryInterfacePrx longtermMemoryPrx)
 
void setPoseAtLastLocalisation (const armarx::LinkedPoseBasePtr &poseAtLastLocalization, const armarx::PoseBasePtr &globalRobotPoseAtLastLocalization, const MultivariateNormalDistributionBasePtr &uncertaintyAtLastLocalization, const Ice::Current &c=Ice::emptyCurrent) override
 
- Public Member Functions inherited from AbstractMotionModel
 AbstractMotionModel (armarx::RobotStateComponentInterfacePrx robotStateProxy)
 
virtual std::string getMotionModelName ()
 
armarx::LinkedPoseBasePtr getPoseAtLastLocalisation (const Ice::Current &=Ice::emptyCurrent) override
 
armarx::LinkedPoseBasePtr getPredictedPose (const Ice::Current &=Ice::emptyCurrent) override
 
armarx::LinkedPoseBasePtr getPredictedPoseAtStartOfCurrentLocalization (const Ice::Current &=Ice::emptyCurrent) override
 
MultivariateNormalDistributionBasePtr getUncertainty (const Ice::Current &=Ice::emptyCurrent) override
 
MultivariateNormalDistributionBasePtr getUncertaintyAtStartOfCurrentLocalization (const Ice::Current &=Ice::emptyCurrent) override
 
void savePredictedPoseAtStartOfCurrentLocalization (const Ice::Current &=Ice::emptyCurrent) override
 
void setPoseAtLastLocalisation (const armarx::LinkedPoseBasePtr &poseAtLastLocalization, const armarx::PoseBasePtr &globalRobotPoseAtLastLocalization, const MultivariateNormalDistributionBasePtr &uncertaintyAtLastLocalization, const Ice::Current &=Ice::emptyCurrent) override
 

Static Public Member Functions

static KBM::Models::KBM_ptr CreateKBMFromSamples (VirtualRobot::RobotPtr robot, VirtualRobot::RobotNodeSetPtr nodeSet, VirtualRobot::SceneObjectPtr referenceFrame)
 
static void CreateSample (VirtualRobot::RobotNodeSetPtr nodeSet, Eigen::VectorXf jointMax, Eigen::VectorXf jointMin, VirtualRobot::RobotNodePtr root, VirtualRobot::RobotNodePtr TCP, Ice::DoubleSeq &prop, Ice::DoubleSeq &shape)
 
- Static Public Member Functions inherited from AbstractMotionModel
static EMotionModelType getMotionModelTypeByName (std::string motionModelName)
 

Protected Member Functions

Eigen::MatrixXf getJointAngles (armarx::SharedRobotInterfacePrx robotPrx)
 
armarx::LinkedPosePtr getPredictedPoseInternal () override
 
MultivariateNormalDistributionBasePtr getUncertaintyInternal () override
 
void ice_postUnmarshal () override
 
 MotionModelKBM ()
 
void periodicUpdate ()
 
- Protected Member Functions inherited from AbstractMotionModel
 AbstractMotionModel ()
 

Protected Attributes

KBM::Models::KBM_ptr kbm
 
std::string memoryName
 
VirtualRobot::RobotPtr robot
 
armarx::PeriodicTask< MotionModelKBM >::pointer_type updaterThreadTask
 
- Protected Attributes inherited from AbstractMotionModel
std::recursive_mutex motionPredictionLock
 

Friends

template<class IceBaseClass , class DerivedClass >
class armarx::GenericFactory
 

Additional Inherited Members

- Public Types inherited from AbstractMotionModel
enum  EMotionModelType { eMotionModelStaticObject, eMotionModelRobotHand, eMotionModelAttachedToOtherObject, eMotionModelKBM }
 

Detailed Description

Definition at line 39 of file MotionModelKBM.h.

Constructor & Destructor Documentation

◆ MotionModelKBM() [1/2]

MotionModelKBM ( std::string  referenceNodeName,
std::string  nodeSetName,
armarx::RobotStateComponentInterfacePrx  robotStateProxy,
memoryx::LongtermMemoryInterfacePrx  longtermMemoryPrx 
)

Definition at line 39 of file MotionModelKBM.cpp.

◆ MotionModelKBM() [2/2]

MotionModelKBM ( )
inlineprotected

Definition at line 70 of file MotionModelKBM.h.

Member Function Documentation

◆ CreateKBMFromSamples()

KBM::Models::KBM_ptr CreateKBMFromSamples ( VirtualRobot::RobotPtr  robot,
VirtualRobot::RobotNodeSetPtr  nodeSet,
VirtualRobot::SceneObjectPtr  referenceFrame 
)
static

Definition at line 257 of file MotionModelKBM.cpp.

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◆ CreateSample()

void CreateSample ( VirtualRobot::RobotNodeSetPtr  nodeSet,
Eigen::VectorXf  jointMax,
Eigen::VectorXf  jointMin,
VirtualRobot::RobotNodePtr  root,
VirtualRobot::RobotNodePtr  TCP,
Ice::DoubleSeq &  prop,
Ice::DoubleSeq &  shape 
)
static

Definition at line 372 of file MotionModelKBM.cpp.

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◆ getJointAngles()

Eigen::MatrixXf getJointAngles ( armarx::SharedRobotInterfacePrx  robotPrx)
protected

Definition at line 108 of file MotionModelKBM.cpp.

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◆ getMotionModelType()

AbstractMotionModel::EMotionModelType getMotionModelType ( )
inlineoverridevirtual

Implements AbstractMotionModel.

Definition at line 46 of file MotionModelKBM.h.

◆ getPredictedPoseInternal()

armarx::LinkedPosePtr getPredictedPoseInternal ( )
overrideprotectedvirtual

Implements AbstractMotionModel.

Definition at line 81 of file MotionModelKBM.cpp.

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◆ getUncertaintyInternal()

memoryx::MultivariateNormalDistributionBasePtr getUncertaintyInternal ( )
overrideprotectedvirtual

Implements AbstractMotionModel.

Definition at line 343 of file MotionModelKBM.cpp.

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◆ ice_postUnmarshal()

void ice_postUnmarshal ( )
overrideprotected

Definition at line 367 of file MotionModelKBM.cpp.

◆ periodicUpdate()

void periodicUpdate ( )
protected

Definition at line 122 of file MotionModelKBM.cpp.

◆ setPoseAtLastLocalisation()

void setPoseAtLastLocalisation ( const armarx::LinkedPoseBasePtr &  poseAtLastLocalization,
const armarx::PoseBasePtr &  globalRobotPoseAtLastLocalization,
const MultivariateNormalDistributionBasePtr &  uncertaintyAtLastLocalization,
const Ice::Current &  c = Ice::emptyCurrent 
)
override

Definition at line 51 of file MotionModelKBM.cpp.

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Friends And Related Function Documentation

◆ armarx::GenericFactory

friend class armarx::GenericFactory
friend

Definition at line 69 of file MotionModelKBM.h.

Member Data Documentation

◆ kbm

KBM::Models::KBM_ptr kbm
protected

Definition at line 71 of file MotionModelKBM.h.

◆ memoryName

std::string memoryName
protected

Definition at line 74 of file MotionModelKBM.h.

◆ robot

VirtualRobot::RobotPtr robot
protected

Definition at line 72 of file MotionModelKBM.h.

◆ updaterThreadTask

armarx::PeriodicTask<MotionModelKBM>::pointer_type updaterThreadTask
protected

Definition at line 73 of file MotionModelKBM.h.

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