#include <armarx/control/common/mp/MP.h>

Inheritance diagram for MP:

Public Member Functions
virtual void	computePhaseStop (const MPInputPtr input, const MPOutputPtr output, PhaseStopResult &phaseStop)

DVec	deserialize (const std::string &, const std::string &mode="string")

double	getCanonicalValue ()

const std::string &	getClassName () const

MPConfig	getConfig ()

const arondto::MPGroup &	getGroup () const

std::string	getGroupName () const

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

bool	isFirstRun ()

bool	isRunning ()

bool	isStopRequested ()

bool	isTaskSpaceMP () const

void	learnFromCSV (const Ice::StringSeq &fileNames=std::vector< std::string >())
	setting

void	learnFromTraj (const MPTrajs &trajs=MPTrajs())

	MP (const MPConfig &c)

void	pause ()

void	removeAllViaPoint ()

void	requestStop ()

void	reset ()

void	resume ()

virtual void	run (MPInputPtr, MPOutputPtr, const PhaseStopResult &phaseStop)=0

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

void	start ()
	control

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 void	validateInitialState (const DVec &starts)

virtual DVec	validateViaPoint (const DVec &viapoint)

virtual	~MP ()=default

Public Attributes
DVec	prevViapoint

Protected Attributes
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.

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

Constructor & Destructor Documentation

◆ MP()

MP ( const MPConfig & c )

◆ ~MP()

virtual ~MP ( )

virtualdefault

Member Function Documentation

◆ computePhaseStop()

virtual void computePhaseStop	(	const MPInputPtr	input,
		const MPOutputPtr	output,
		PhaseStopResult &	phaseStop )

inlinevirtual

Reimplemented in TSMP.

◆ deserialize()

DVec deserialize	(	const std::string &	mpString,
		const std::string &	mode = "string" )

◆ getCanonicalValue()

double getCanonicalValue ( )

◆ getClassName()

const std::string & getClassName ( ) const

◆ getConfig()

MPConfig getConfig ( )

◆ getGroup()

const arondto::MPGroup & getGroup ( ) const

◆ getGroupName()

std::string getGroupName ( ) const

◆ getMPName()

const std::string & getMPName ( ) const

◆ getNodeSetName()

const std::string & getNodeSetName ( ) const

◆ getRole()

const std::string & getRole ( ) const

◆ getStartFromPrevTarget()

bool getStartFromPrevTarget ( )

◆ getStartVec()

std::vector< double > getStartVec ( )

◆ getWeight()

DVecVec getWeight ( )

◆ isFinished()

bool isFinished ( )

status

◆ isFirstRun()

bool isFirstRun ( )

◆ isRunning()

bool isRunning ( )

◆ isStopRequested()

bool isStopRequested ( )

◆ isTaskSpaceMP()

bool isTaskSpaceMP ( ) const

◆ learnFromCSV()

void learnFromCSV ( const Ice::StringSeq & fileNames = std::vector<std::string>() )

setting

◆ learnFromTraj()

void learnFromTraj ( const MPTrajs & trajs = MPTrajs() )

◆ pause()

void pause ( )

◆ removeAllViaPoint()

void removeAllViaPoint ( )

◆ requestStop()

void requestStop ( )

◆ reset()

void reset ( )

◆ resume()

void resume ( )

◆ run()

virtual void run	(	MPInputPtr	,
		MPOutputPtr	,
		const PhaseStopResult &	phaseStop )

pure virtual

Implemented in JSMP, KeypointsMP, and TSMP.

◆ serialize()

std::string serialize ( const std::string & mode = "string" )

◆ setDurationSec()

void setDurationSec ( Ice::Double timeDuration )

◆ setGoal()

void setGoal ( const DVec & goals )

◆ setRotationWeights()

void setRotationWeights ( const DVecVec & weights )

◆ setStart()

void setStart ( const DVec & starts )

◆ setStartAndGoal()

void setStartAndGoal	(	const DVec &	starts,
		const DVec &	goals )

◆ setTranslationWeights()

void setTranslationWeights ( const DVecVec & weights )

◆ setViaPoint()

void setViaPoint	(	Ice::Double	u,
		const DVec &	viapoint )

◆ setWeight()

void setWeight ( const DVecVec & weights )

serialze

◆ start() [1/5]

void start ( )

control

◆ start() [2/5]

void start ( const DVec & goals )

◆ start() [3/5]

void start	(	const DVec &	goals,
		const DVec &	starts )

parse user defined viapoints from configuration file

overwrite goals and starts if available

prepare execution

set flag

◆ start() [4/5]

void start	(	const DVec &	goals,
		const DVec &	starts,
		Ice::Double	timeDuration )

◆ start() [5/5]

void start	(	const DVec &	goals,
		Ice::Double	timeDuration )

◆ stop()

void stop ( )

◆ trainMP()

void trainMP ( )

◆ trainMPFromTraj()

void trainMPFromTraj ( std::vector< mplib::core::SampledTrajectory > & trajs )

◆ validateInitialState()

virtual void validateInitialState ( const DVec & starts )

inlinevirtual

Reimplemented in TSMP.

◆ validateViaPoint()

virtual DVec validateViaPoint ( const DVec & viapoint )

inlinevirtual

Reimplemented in TSMP.

Member Data Documentation

◆ canonicalValue

double canonicalValue = 1.0

protected

◆ cfg

MPConfig cfg

protected

◆ currentState

std::vector<mplib::representation::MPState> currentState

protected

◆ finished

std::atomic_bool finished = false

protected

◆ firstRun

std::atomic_bool firstRun = true

protected

◆ goalSetByUser

std::atomic_bool goalSetByUser {false}

protected

◆ isDisturbance

bool isDisturbance = false

protected

◆ mpMutex

MutexType mpMutex

mutableprotected

◆ mpStartTimeSec

armarx::DateTime mpStartTimeSec

protected

◆ mpTrained

std::atomic_bool mpTrained {false}

protected

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.

So make sure mp is trained before setting any viapoint.

◆ paused

std::atomic_bool paused = false

protected

◆ prevViapoint

DVec prevViapoint

◆ running

std::atomic_bool running = false

protected

◆ stopRequested

std::atomic_bool stopRequested = false

protected

◆ targetPoseVec

DVec targetPoseVec

protected

◆ targetPoseVecInTraj

DVec targetPoseVecInTraj

protected

◆ userDefinedViaPoints

std::vector<std::pair<double, DVec> > userDefinedViaPoints

protected

◆ vmp

VMPPtr vmp

protected

◆ vmpType

mplib::representation::VMPType vmpType = mplib::representation::VMPType::PrincipalComponent

protected

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

armarx/control/common/mp/MP.h
armarx/control/common/mp/MP.cpp

Public Member Functions

Public Attributes

Protected Attributes

Constructor & Destructor Documentation

◆ MP()

◆ ~MP()

Member Function Documentation

◆ computePhaseStop()

◆ deserialize()

◆ getCanonicalValue()

◆ getClassName()

◆ getConfig()

◆ getGroup()

◆ getGroupName()

◆ getMPName()

◆ getNodeSetName()

◆ getRole()

◆ getStartFromPrevTarget()

◆ getStartVec()

◆ getWeight()

◆ isFinished()

◆ isFirstRun()

◆ isRunning()

◆ isStopRequested()

◆ isTaskSpaceMP()

◆ learnFromCSV()

◆ learnFromTraj()

◆ pause()

◆ removeAllViaPoint()

◆ requestStop()

◆ reset()

◆ resume()

◆ run()

◆ serialize()

◆ setDurationSec()

◆ setGoal()

◆ setRotationWeights()

◆ setStart()

◆ setStartAndGoal()

◆ setTranslationWeights()

◆ setViaPoint()

◆ setWeight()

◆ start() [1/5]

◆ start() [2/5]

◆ start() [3/5]

◆ start() [4/5]

◆ start() [5/5]

◆ stop()

◆ trainMP()

◆ trainMPFromTraj()

◆ validateInitialState()

◆ validateViaPoint()

Member Data Documentation

◆ canonicalValue

◆ cfg

◆ currentState

◆ finished

◆ firstRun

◆ goalSetByUser

◆ isDisturbance

◆ mpMutex

◆ mpStartTimeSec

◆ mpTrained

◆ paused

◆ prevViapoint

◆ running

◆ stopRequested

◆ targetPoseVec

◆ targetPoseVecInTraj

◆ userDefinedViaPoints

◆ vmp

◆ vmpType