GMRDynamics.h

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/*
 * GMRDynamics.h
 *
 *  Created on: Nov 20, 2011
 *      Author: Seungsu KIM
 */
 
#ifndef __GMRDYNAMICS_H__
#define __GMRDYNAMICS_H__
 
#include <boost/shared_ptr.hpp>
 
#include "Gaussians.h"
 
#define GMR_ERROR_TOLERANCE 0.001
#define INTEGRATION_L 5
#define REACHING_ITERATION_MAX 500
#define REAL_MIN (1e-30)
 
// GMR Dynamics
class GMRDynamics
{
private:
    Gaussians* GMM;
 
    double delta_t;
    double target_t;
    double current_t;
 
    MathLib::Vector gXi;
    MathLib::Vector target;
    unsigned int gDim;
 
public:
    GMRDynamics(int nStates,
                int nVar,
                double delta_t,
                const char* f_mu,
                const char* f_sigma,
                const char* f_prio);
    GMRDynamics(int nStates,
                int nVar,
                double delta_t,
                const vector<double> pri_vec,
                const vector<double> mu_vec,
                const vector<double> sig_vec);
 
    void initGMR(int first_inindex, int last_inindex, int first_outindex, int last_outindex);
 
    void setStateTarget(MathLib::Vector state, MathLib::Vector target);
    void setTarget(MathLib::Vector target, double target_t = -1.0);
    MathLib::Vector getTarget(void);
    double getTargetT(void);
    void setState(MathLib::Vector state);
    MathLib::Vector getState(void);
    void setCurrentTime(double current_t);
    double getCurrentTime(void);
 
    MathLib::Vector getVelocity(MathLib::Vector x);
 
    MathLib::Vector getNextState(void);
    MathLib::Vector getNextState(double lamda);
    double getReachingTime(double lamda);
};
 
typedef boost::shared_ptr<GMRDynamics> GMMPtr;
 
#endif //__GMRDYNAMICS_H__