TSMP Class Reference
#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 |
| DVec | validateViaPoint (const DVec &viapoint) 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 |
| bool | getStartFromPrevTarget () |
| std::vector< double > | getStartVec () |
| DVecVec | getWeight () |
| bool | isFinished () |
| status More... | |
| bool | isFirstRun () |
| bool | isRunning () |
| bool | isStopRequested () |
| 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 | requestStop () |
| 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() |
| Public Attributes inherited from MP | |
| DVec | prevViapoint |
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 |
| armarx::DateTime | mpStartTimeSec |
| 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 |
| std::atomic_bool | stopRequested = false |
| DVec | targetPoseVec |
| DVec | targetPoseVecInTraj |
| std::vector< std::pair< double, DVec > > | userDefinedViaPoints |
| VMPPtr | vmp |
| mplib::representation::VMPType | vmpType = mplib::representation::VMPType::PrincipalComponent |
Detailed Description
Constructor & Destructor Documentation
◆ TSMP()
◆ ~TSMP()
Member Function Documentation
◆ run()
|
overridevirtual |
◆ validateInitialState()
|
overridevirtual |
◆ validateViaPoint()
Member Data Documentation
◆ previousAngularVelocity
| Eigen::Quaterniond previousAngularVelocity = Eigen::Quaterniond::Identity() |
The documentation for this class was generated from the following files:
