MP Class Reference

#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

Detailed Description

Definition at line 74 of file MP.h.

Constructor & Destructor Documentation

MP()

MP

(

const MPConfig &

c

)

Definition at line 18 of file MP.cpp.

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~MP()

virtual ~MP ( )

virtualdefault

Member Function Documentation

computePhaseStop()

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

inlinevirtual

Reimplemented in TSMP.

Definition at line 144 of file MP.h.

deserialize()

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

Definition at line 502 of file MP.cpp.

getCanonicalValue()

double getCanonicalValue

(

)

Definition at line 465 of file MP.cpp.

getClassName()

const std::string & getClassName

(

)

const

Definition at line 53 of file MP.cpp.

getConfig()

MPConfig getConfig

(

)

Definition at line 226 of file MP.cpp.

getGroup()

const arondto::MPGroup & getGroup

(

)

const

Definition at line 77 of file MP.cpp.

getGroupName()

std::string getGroupName

(

)

const

Definition at line 71 of file MP.cpp.

getMPName()

const std::string & getMPName

(

)

const

Definition at line 47 of file MP.cpp.

getNodeSetName()

const std::string & getNodeSetName

(

)

const

Definition at line 59 of file MP.cpp.

getRole()

const std::string & getRole

(

)

const

Definition at line 65 of file MP.cpp.

getStartFromPrevTarget()

bool getStartFromPrevTarget

(

)

Definition at line 417 of file MP.cpp.

getStartVec()

std::vector< double > getStartVec

(

)

Definition at line 405 of file MP.cpp.

getWeight()

DVecVec getWeight

(

)

Definition at line 478 of file MP.cpp.

isFinished()

bool isFinished

(

)

status

Definition at line 202 of file MP.cpp.

isFirstRun()

bool isFirstRun

(

)

Definition at line 214 of file MP.cpp.

isRunning()

bool isRunning

(

)

Definition at line 208 of file MP.cpp.

isStopRequested()

bool isStopRequested

(

)

Definition at line 220 of file MP.cpp.

isTaskSpaceMP()

bool isTaskSpaceMP

(

)

const

Definition at line 83 of file MP.cpp.

learnFromCSV()

void learnFromCSV

(

const Ice::StringSeq &

fileNames = std::vector<std::string>()

)

setting

Definition at line 265 of file MP.cpp.

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learnFromTraj()

void learnFromTraj

(

const MPTrajs &

trajs = MPTrajs()

)

Definition at line 232 of file MP.cpp.

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pause()

void pause

(

)

Definition at line 170 of file MP.cpp.

removeAllViaPoint()

void removeAllViaPoint

(

)

Definition at line 458 of file MP.cpp.

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requestStop()

void requestStop

(

)

Definition at line 164 of file MP.cpp.

reset()

void reset

(

)

Definition at line 182 of file MP.cpp.

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resume()

void resume

(

)

Definition at line 176 of file MP.cpp.

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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"

)

Definition at line 484 of file MP.cpp.

setDurationSec()

void setDurationSec

(

Ice::Double

timeDuration

)

Definition at line 108 of file MP.cpp.

setGoal()

void setGoal

(

const DVec &

goals

)

Definition at line 350 of file MP.cpp.

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setRotationWeights()

void setRotationWeights

(

const DVecVec &

weights

)

setStart()

void setStart

(

const DVec &

starts

)

Definition at line 378 of file MP.cpp.

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setStartAndGoal()

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

Definition at line 423 of file MP.cpp.

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setTranslationWeights()

void setTranslationWeights

(

const DVecVec &

weights

)

setViaPoint()

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

Definition at line 430 of file MP.cpp.

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setWeight()

void setWeight

(

const DVecVec &

weights

)

serialze

Definition at line 472 of file MP.cpp.

start() [1/5]

void start

(

)

control

Definition at line 89 of file MP.cpp.

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start() [2/5]

void start

(

const DVec &

goals

)

Definition at line 95 of file MP.cpp.

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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

Definition at line 121 of file MP.cpp.

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start() [4/5]

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

Definition at line 114 of file MP.cpp.

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start() [5/5]

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

Definition at line 101 of file MP.cpp.

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stop()

void stop

(

)

Definition at line 157 of file MP.cpp.

trainMP()

void trainMP

(

)

Definition at line 324 of file MP.cpp.

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trainMPFromTraj()

void trainMPFromTraj

(

std::vector< mplib::core::SampledTrajectory > &

trajs

)

Definition at line 290 of file MP.cpp.

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validateInitialState()

virtual void validateInitialState ( const DVec & starts )

inlinevirtual

Reimplemented in TSMP.

Definition at line 130 of file MP.h.

validateViaPoint()

virtual DVec validateViaPoint ( const DVec & viapoint )

inlinevirtual

Reimplemented in TSMP.

Definition at line 125 of file MP.h.

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Member Data Documentation

canonicalValue

double canonicalValue = 1.0

protected

Definition at line 171 of file MP.h.

cfg

MPConfig cfg

protected

Definition at line 159 of file MP.h.

currentState

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

protected

Definition at line 180 of file MP.h.

finished

std::atomic_bool finished = false

protected

Definition at line 168 of file MP.h.

firstRun

std::atomic_bool firstRun = true

protected

Definition at line 172 of file MP.h.

goalSetByUser

std::atomic_bool goalSetByUser {false}

protected

Definition at line 174 of file MP.h.

isDisturbance

bool isDisturbance = false

protected

Definition at line 161 of file MP.h.

mpMutex

MutexType mpMutex

mutableprotected

Definition at line 163 of file MP.h.

mpStartTimeSec

armarx::DateTime mpStartTimeSec

protected

Definition at line 183 of file MP.h.

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.

Definition at line 177 of file MP.h.

paused

std::atomic_bool paused = false

protected

Definition at line 169 of file MP.h.

prevViapoint

DVec prevViapoint

Definition at line 122 of file MP.h.

running

std::atomic_bool running = false

protected

Definition at line 167 of file MP.h.

stopRequested

std::atomic_bool stopRequested = false

protected

Definition at line 170 of file MP.h.

targetPoseVec

DVec targetPoseVec

protected

Definition at line 178 of file MP.h.

targetPoseVecInTraj

DVec targetPoseVecInTraj

protected

Definition at line 179 of file MP.h.

userDefinedViaPoints

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

protected

Definition at line 181 of file MP.h.

vmp

VMPPtr vmp

protected

Definition at line 164 of file MP.h.

vmpType

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

protected

Definition at line 165 of file MP.h.

---

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

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