DMPComponent Class Reference

The DMPComponent class. More...

#include <RobotComponents/components/DMPComponent/DMPComponent.h>

Inheritance diagram for DMPComponent:

Public Member Functions
Vec2D	calcTrajectory (const std::string &dmpName, double startTime, double timeStep, double endTime, const ::Ice::DoubleSeq &goal, const cStateVec &states, const ::Ice::DoubleSeq &canonicalValues, double temporalFactor, const ::Ice::Current &=Ice::emptyCurrent) override
armarx::PropertyDefinitionsPtr	createPropertyDefinitions () override
	DMPComponent ()
void	eraseDMP (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override
double	getAmpl (const std::string &dmpName, int dim, const ::Ice::Current &=Ice::emptyCurrent) override
Ice::DoubleSeq	getCanonicalValues (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override
cStateVec	getCurrentState (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override
double	getCurrentTime (const ::Ice::Current &=Ice::emptyCurrent) override
double	getDampingFactor (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override
std::string	getDefaultName () const override
DMPInstanceBasePrx	getDMP (const std::string &dmpName, const Ice::Current &=Ice::emptyCurrent) override
int	getDMPDim (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override
DMPInstanceBasePrx	getDMPFromDatabase (const std::string &dmpEntityName, const std::string &dmpName="UNKNOWN", const Ice::Current &=Ice::emptyCurrent) override
DMPInstanceBasePrx	getDMPFromDatabaseById (const std::string &dbId, const Ice::Current &) override
DMPInstanceBasePrx	getDMPFromFile (const std::string &fileName, const std::string &dmpName="UNKNOWN", const Ice::Current &=Ice::emptyCurrent) override
SVector	getDMPNameList (const ::Ice::Current &=Ice::emptyCurrent) override
std::string	getDMPType (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override
double	getForceTerm (const std::string &dmpName, const Ice::DoubleSeq &canonicalValues, int dim, const Ice::Current &=Ice::emptyCurrent) override
cStateVec	getNextState (const std::string &dmpName, const cStateVec &states, const ::Ice::Current &=Ice::emptyCurrent) override
double	getSpringFactor (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override
Ice::DoubleSeq	getStartPosition (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override
double	getTemporalFactor (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override
double	getTimeStep (const ::Ice::Current &=Ice::emptyCurrent) override
Ice::DoubleSeq	getTrajGoal (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override
::armarx::cStateVec	getTrajStartState (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override
DMPInstanceBasePrx	instantiateDMP (const std::string &dmpName, const std::string &DMPType, int kernelSize, const ::Ice::Current &=Ice::emptyCurrent) override
bool	isDMPExist (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override
void	readTrajectoryFromFile (const std::string &dmpName, const std::string &file, double times=1, const ::Ice::Current &=Ice::emptyCurrent) override
void	removeDMPFromDatabase (const std::string &name, const ::Ice::Current &=Ice::emptyCurrent) override
void	removeDMPFromDatabaseById (const std::string &dbId, const Ice::Current &) override
void	resetCanonicalValues (const ::Ice::Current &=Ice::emptyCurrent) override
void	resetTime (const ::Ice::Current &=Ice::emptyCurrent) override
void	setAmpl (const std::string &dmpName, int dim, double value, const ::Ice::Current &=Ice::emptyCurrent) override
void	setCanonicalValues (const std::string &dmpName, const Ice::DoubleSeq &value, const Ice::Current &=Ice::emptyCurrent) override
void	setDMPState (const std::string &dmpName, const ::armarx::cStateVec &state, const ::Ice::Current &=Ice::emptyCurrent) override
void	setGoal (const std::string &dmpName, const Ice::DoubleSeq &value, const Ice::Current &=Ice::emptyCurrent) override
void	setStartPosition (const std::string &dmpName, const Ice::DoubleSeq &value, const Ice::Current &=Ice::emptyCurrent) override
void	setTemporalFactor (const std::string &dmpName, double tau, const ::Ice::Current &=Ice::emptyCurrent) override
void	setTimeStep (double ts, const ::Ice::Current &=Ice::emptyCurrent) override
void	storeDMPInDatabase (const std::string &dmpName, const std::string &name, const ::Ice::Current &=Ice::emptyCurrent) override
void	storeDMPInFile (const std::string &fileName, const std::string &dmpName, const Ice::Current &) override
void	trainDMP (const std::string &dmpName, const ::Ice::Current &=Ice::emptyCurrent) override
Public Member Functions inherited from Component
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	Implement this function if you would like to react to changes in the properties.
void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function
std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const
template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name)
template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name) const
template<class T>
void	getProperty (std::atomic< T > &val, const std::string &name) const
template<class T>
void	getProperty (T &val, const std::string &name) const
template<class ProxyType>
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property.
template<class ProxyType>
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
template<class TopicProxyType>
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property.
template<class TopicProxyType>
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)
void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component.
void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override
void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property.
virtual void	preOnConnectComponent () override
virtual void	preOnInitComponent () override
bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property.
void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property.
Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer)
std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name.
ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components.
ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies)
IceManagerPtr	getIceManager () const
	Returns the IceManager.
VariantBasePtr	getMetaInfo (const std::string &id)
StringVariantBaseMap	getMetaInfoMap () const
std::string	getName () const
	Retrieve name of object.
Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter.
ArmarXObjectSchedulerPtr	getObjectScheduler () const
PeriodicTaskPtr	getPeriodicTask (const std::string &name)
Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler
template<class ProxyTarg, class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)
template<class ProxyType>
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object.
template<class ProxyTarg, class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)
template<class ProxyTarg, class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&... args)
template<class ProxyTarg, class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&... args)
	Assigns a proxy to proxy.
Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy)
template<class Prx>
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
template<class ProxyType>
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload).
template<class Prx>
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const
int	getState () const
	Retrieve current state of the ManagedIceObject.
template<class TopicProxyType>
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic.
template<class TopicProxyType>
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to topicProxy.
std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies
	ManagedIceObject (ManagedIceObject const &other)
void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization.
void	preambleGetTopic (std::string const &name)
void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager.
void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)
bool	stopPeriodicTask (const std::string &name)
bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic.
bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list.
void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization.
void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies.
void	waitForProxy (std::string const &name, bool addToDependencies)
Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds.
MessageTypeT	getEffectiveLoggingLevel () const
	Logging ()
void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set.
void	setTag (const LogTag &tag)
void	setTag (const std::string &tagName)
virtual	~Logging ()
Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()
Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties.
template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval.
template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in const-modified methods.
template<class T>
void	getProperty (std::atomic< T > &val, const std::string &name) const
template<class T>
void	getProperty (T &val, const std::string &name) const
template<class T>
std::vector< T >	getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
template<class ContainerT>
void	getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)
PropertyDefinitionsPtr	getPropertyDefinitions ()
	Returns the component's property definition container.
std::vector< std::string >	getSubscribedTopicNames ()
std::vector< std::string >	getTopicProxyNames ()
bool	hasProperty (const std::string &name)
	PropertyUser ()
virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties.
bool	tryAddProperty (const std::string &propertyName, const std::string &value)
virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)
void	updateProperties ()
void	updateProxies (IceManagerPtr)
	~PropertyUser () override

Public Attributes
double	ctime
double	timestep
std::vector< int >	usedDimensions

Protected Member Functions
void	onConnectComponent () override
void	onDisconnectComponent () override
void	onExitComponent () override
void	onInitComponent () override
Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text.
	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead.
std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor.
std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor.
std::string	getConfigName ()
	Retrieve config name for this component as set in constructor.
virtual void	icePropertiesInitialized ()
Protected Member Functions inherited from ManagedIceObject
template<class PluginT, class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&... params)
template<class PluginT, class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&... params)
template<class PluginT, class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&... params)
Ice::CommunicatorPtr	getCommunicator () const
std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)
	ManagedIceObject ()
	Protected default constructor.
virtual void	postOnConnectComponent ()
virtual void	postOnDisconnectComponent ()
virtual void	postOnExitComponent ()
virtual void	postOnInitComponent ()
virtual void	preOnDisconnectComponent ()
virtual void	preOnExitComponent ()
bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object.
void	setName (std::string name)
	Override name of well-known object.
void	terminate ()
	Initiates termination of this IceManagedObject.
	~ManagedIceObject () override
Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const
const LogSenderPtr &	getLogSender () const
	Retrieve log sender.
LogSenderPtr	loghelper (const char *file, int line, const char *function) const

Protected Attributes
memoryx::PersistentDMPDataSegmentBasePrx	dmpDataMemoryPrx
DMPMap	dmpPool
memoryx::LongtermMemoryInterfacePrx	longtermMemoryPrx
Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel
SpamFilterDataPtr	spamFilter
LogTag	tag

Additional Inherited Members
Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle<SimplePeriodicTask<std::function<void(void)>>>
Static Public Member Functions inherited from Component
template<class T, class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component.
Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name.
static std::string	GetObjectStateAsString (int state)
Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required.

Detailed Description

The DMPComponent class.

Constructor & Destructor Documentation

DMPComponent()

DMPComponent ( )

inline

Member Function Documentation

calcTrajectory()

Vec2D calcTrajectory ( const std::string & dmpName, double startTime, double timeStep, double endTime, const ::Ice::DoubleSeq & goal, const cStateVec & states, const ::Ice::DoubleSeq & canonicalValues, double temporalFactor, const ::Ice::Current & = Ice::emptyCurrent )

override

createPropertyDefinitions()

armarx::PropertyDefinitionsPtr createPropertyDefinitions ( )

inlineoverridevirtual

See also

PropertyUser::createPropertyDefinitions()

Reimplemented from Component.

eraseDMP()

void eraseDMP ( const std::string & dmpName, const ::Ice::Current & = Ice::emptyCurrent )

override

getAmpl()

double getAmpl ( const std::string & dmpName, int dim, const ::Ice::Current & = Ice::emptyCurrent )

override

getCanonicalValues()

Ice::DoubleSeq getCanonicalValues ( const std::string & dmpName, const ::Ice::Current & = Ice::emptyCurrent )

override

getCurrentState()

cStateVec getCurrentState ( const std::string & dmpName, const ::Ice::Current & = Ice::emptyCurrent )

override

getCurrentTime()

double getCurrentTime ( const ::Ice::Current & = Ice::emptyCurrent )

override

getDampingFactor()

double getDampingFactor ( const std::string & dmpName, const ::Ice::Current & = Ice::emptyCurrent )

override

getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

See also

armarx::ManagedIceObject::getDefaultName()

Implements ManagedIceObject.

getDMP()

DMPInstanceBasePrx getDMP ( const std::string & dmpName, const Ice::Current & = Ice::emptyCurrent )

override

getDMPDim()

int getDMPDim ( const std::string & dmpName, const ::Ice::Current & = Ice::emptyCurrent )

override

getDMPFromDatabase()

DMPInstanceBasePrx getDMPFromDatabase ( const std::string & dmpEntityName, const std::string & dmpName = "UNKNOWN", const Ice::Current & = Ice::emptyCurrent )

override

getDMPFromDatabaseById()

DMPInstanceBasePrx getDMPFromDatabaseById ( const std::string & dbId, const Ice::Current &  )

override

getDMPFromFile()

DMPInstanceBasePrx getDMPFromFile ( const std::string & fileName, const std::string & dmpName = "UNKNOWN", const Ice::Current & = Ice::emptyCurrent )

override

getDMPNameList()

SVector getDMPNameList ( const ::Ice::Current & = Ice::emptyCurrent )

override

getDMPType()

string getDMPType ( const std::string & dmpName, const ::Ice::Current & = Ice::emptyCurrent )

override

getForceTerm()

double getForceTerm ( const std::string & dmpName, const Ice::DoubleSeq & canonicalValues, int dim, const Ice::Current & = Ice::emptyCurrent )

override

getNextState()

cStateVec getNextState ( const std::string & dmpName, const cStateVec & states, const ::Ice::Current & = Ice::emptyCurrent )

override

getSpringFactor()

double getSpringFactor ( const std::string & dmpName, const ::Ice::Current & = Ice::emptyCurrent )

override

getStartPosition()

Ice::DoubleSeq getStartPosition ( const std::string & dmpName, const ::Ice::Current & = Ice::emptyCurrent )

override

getTemporalFactor()

double getTemporalFactor ( const std::string & dmpName, const ::Ice::Current & = Ice::emptyCurrent )

override

getTimeStep()

double getTimeStep ( const ::Ice::Current & = Ice::emptyCurrent )

inlineoverride

getTrajGoal()

Ice::DoubleSeq getTrajGoal ( const std::string & dmpName, const ::Ice::Current & = Ice::emptyCurrent )

override

getTrajStartState()

cStateVec getTrajStartState ( const std::string & dmpName, const ::Ice::Current & = Ice::emptyCurrent )

override

instantiateDMP()

DMPInstanceBasePrx instantiateDMP ( const std::string & dmpName, const std::string & DMPType, int kernelSize, const ::Ice::Current & = Ice::emptyCurrent )

override

isDMPExist()

bool isDMPExist ( const std::string & dmpName, const ::Ice::Current & = Ice::emptyCurrent )

override

onConnectComponent()

void onConnectComponent ( )

overrideprotectedvirtual

See also

armarx::ManagedIceObject::onConnectComponent()

Implements ManagedIceObject.

onDisconnectComponent()

void onDisconnectComponent ( )

overrideprotectedvirtual

See also

armarx::ManagedIceObject::onDisconnectComponent()

Reimplemented from ManagedIceObject.

onExitComponent()

void onExitComponent ( )

overrideprotectedvirtual

See also

armarx::ManagedIceObject::onExitComponent()

Reimplemented from ManagedIceObject.

onInitComponent()

void onInitComponent ( )

overrideprotectedvirtual

See also

armarx::ManagedIceObject::onInitComponent()

Implements ManagedIceObject.

readTrajectoryFromFile()

void readTrajectoryFromFile ( const std::string & dmpName, const std::string & file, double times = 1, const ::Ice::Current & = Ice::emptyCurrent )

override

removeDMPFromDatabase()

void removeDMPFromDatabase ( const std::string & name, const ::Ice::Current & = Ice::emptyCurrent )

override

removeDMPFromDatabaseById()

void removeDMPFromDatabaseById ( const std::string & dbId, const Ice::Current &  )

override

resetCanonicalValues()

void resetCanonicalValues ( const ::Ice::Current & = Ice::emptyCurrent )

override

resetTime()

void resetTime ( const ::Ice::Current & = Ice::emptyCurrent )

override

setAmpl()

void setAmpl ( const std::string & dmpName, int dim, double value, const ::Ice::Current & = Ice::emptyCurrent )

override

setCanonicalValues()

void setCanonicalValues ( const std::string & dmpName, const Ice::DoubleSeq & value, const Ice::Current & = Ice::emptyCurrent )

override

setDMPState()

void setDMPState ( const std::string & dmpName, const ::armarx::cStateVec & state, const ::Ice::Current & = Ice::emptyCurrent )

override

setGoal()

void setGoal ( const std::string & dmpName, const Ice::DoubleSeq & value, const Ice::Current & = Ice::emptyCurrent )

override

setStartPosition()

void setStartPosition ( const std::string & dmpName, const Ice::DoubleSeq & value, const Ice::Current & = Ice::emptyCurrent )

override

setTemporalFactor()

void setTemporalFactor ( const std::string & dmpName, double tau, const ::Ice::Current & = Ice::emptyCurrent )

override

setTimeStep()

void setTimeStep ( double ts, const ::Ice::Current & = Ice::emptyCurrent )

override

storeDMPInDatabase()

void storeDMPInDatabase ( const std::string & dmpName, const std::string & name, const ::Ice::Current & = Ice::emptyCurrent )

override

storeDMPInFile()

void storeDMPInFile ( const std::string & fileName, const std::string & dmpName, const Ice::Current &  )

override

trainDMP()

void trainDMP ( const std::string & dmpName, const ::Ice::Current & = Ice::emptyCurrent )

override

Member Data Documentation

ctime

double ctime

dmpDataMemoryPrx

memoryx::PersistentDMPDataSegmentBasePrx dmpDataMemoryPrx

protected

dmpPool

DMPMap dmpPool

protected

longtermMemoryPrx

memoryx::LongtermMemoryInterfacePrx longtermMemoryPrx

protected

timestep

double timestep

usedDimensions

std::vector<int> usedDimensions

---

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

• RobotComponents/components/DMPComponent/DMPComponent.h
• RobotComponents/components/DMPComponent/DMPComponent.cpp