List of all members | Public Member Functions | Public Attributes
TaskSpaceDMPController Class Reference
RobotAPI » RobotUnit » NJointControllers » TaskSpaceDMPController

Brief description of class TaskSpaceDMPController. More...

#include <armarx/control/deprecated_njoint_mp_controller/TaskSpaceVMP.h>

Public Member Functions

std::vector< double > eigen4f2vec (const Eigen::Matrix4f &pose)
 
double flow (double canVal, double deltaT, const Eigen::Matrix4f &currentPose, const Eigen::VectorXf &twist)
 
void flow (double deltaT, const Eigen::Matrix4f &currentPose, const Eigen::VectorXf &twist)
 
DMP::UMITSMPPtr getDMP ()
 
Eigen::Matrix4f getIntegratedPoseMat ()
 
std::string getName ()
 
DMP::DVec2d getRotWeights ()
 
std::vector< double > getTargetPose ()
 
Eigen::Matrix4f getTargetPoseMat ()
 
Eigen::VectorXf getTargetVelocity ()
 
DMP::DVec2d getTranslWeights ()
 
DMP::DVec2d getWeights ()
 
void learnDMPFromFiles (const std::vector< std::string > &fileNames)
 
void learnDMPFromFiles (const std::vector< std::string > &fileNames, const std::vector< double > &ratios)
 
void learnDMPFromSampledTrajectory (const DMP::Vec< DMP::SampledTrajectoryV2 > &trajs)
 
void learnDMPFromSampledTrajectory (const DMP::Vec< DMP::SampledTrajectoryV2 > &trajs, const std::vector< double > &ratios)
 
void learnDMPFromTrajectory (const TrajectoryPtr &traj)
 
void loadDMPFromString (const std::string &dmpStr)
 
void loadDMPFromXML (const std::string &dmpXML)
 
void pauseController ()
 
void prepareExecution (const Eigen::Matrix4f &currentPose, const Eigen::Matrix4f &goalPose)
 
void prepareExecution (const std::vector< double > &currentPoseVec, const std::vector< double > &goalPoseVec)
 
void removeAllViaPoints ()
 
void resumeController ()
 
std::string saveDMPToString ()
 
void saveDMPToXML (const std::string &dmpXML)
 
void setAmplitude (double amp)
 
void setGoalPose (const Eigen::Matrix4f &goalPose)
 
void setGoalPoseVec (const std::vector< double > goalPoseVec)
 
void setRatios (const std::vector< double > &ratios)
 
void setRotWeights (const std::vector< std::vector< double > > &weights)
 
void setSpeed (double times)
 
void setTranslWeights (const std::vector< std::vector< double > > &weights)
 
void setViaPose (double canVal, const Eigen::Matrix4f &viaPose)
 
void setViaPose (double canVal, const std::vector< double > &viaPoseWithQuaternion)
 
void setWeights (const std::vector< std::vector< double > > &weights)
 
 TaskSpaceDMPController (std::string name, const TaskSpaceDMPControllerConfig &config, bool isPhaseStopControl=true)
 

Public Attributes

double canVal
 
TaskSpaceDMPControllerConfig config
 
DebugInfo debugData
 
std::string dmpName
 
DMP::UMITSMPPtr dmpPtr
 
bool isPhaseStopControl
 

Detailed Description

Brief description of class TaskSpaceDMPController.

Detailed description of class TaskSpaceDMPController.

Definition at line 90 of file TaskSpaceVMP.h.

Constructor & Destructor Documentation

◆ TaskSpaceDMPController()

TaskSpaceDMPController ( std::string name,
const TaskSpaceDMPControllerConfig & config,
bool isPhaseStopControl = true )

Definition at line 519 of file TaskSpaceVMP.cpp.

Member Function Documentation

◆ eigen4f2vec()

std::vector< double > eigen4f2vec ( const Eigen::Matrix4f & pose)

Definition at line 462 of file TaskSpaceVMP.cpp.

+ Here is the caller graph for this function:

◆ flow() [1/2]

double flow ( double canVal,
double deltaT,
const Eigen::Matrix4f & currentPose,
const Eigen::VectorXf & twist )

Definition at line 55 of file TaskSpaceVMP.cpp.

◆ flow() [2/2]

void flow ( double deltaT,
const Eigen::Matrix4f & currentPose,
const Eigen::VectorXf & twist )

Definition at line 47 of file TaskSpaceVMP.cpp.

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

◆ getDMP()

DMP::UMITSMPPtr getDMP ( )

Definition at line 607 of file TaskSpaceVMP.cpp.

◆ getIntegratedPoseMat()

Eigen::Matrix4f getIntegratedPoseMat ( )

Definition at line 581 of file TaskSpaceVMP.cpp.

◆ getName()

std::string getName ( )

Definition at line 551 of file TaskSpaceVMP.cpp.

◆ getRotWeights()

DMP::DVec2d getRotWeights ( )

Definition at line 671 of file TaskSpaceVMP.cpp.

+ Here is the call graph for this function:

◆ getTargetPose()

std::vector< double > getTargetPose ( )

Definition at line 563 of file TaskSpaceVMP.cpp.

◆ getTargetPoseMat()

Eigen::Matrix4f getTargetPoseMat ( )

Definition at line 569 of file TaskSpaceVMP.cpp.

◆ getTargetVelocity()

Eigen::VectorXf getTargetVelocity ( )

Definition at line 557 of file TaskSpaceVMP.cpp.

◆ getTranslWeights()

DMP::DVec2d getTranslWeights ( )

Definition at line 659 of file TaskSpaceVMP.cpp.

+ Here is the call graph for this function:

◆ getWeights()

DMP::DVec2d getWeights ( )

Definition at line 653 of file TaskSpaceVMP.cpp.

+ Here is the caller graph for this function:

◆ learnDMPFromFiles() [1/2]

void learnDMPFromFiles ( const std::vector< std::string > & fileNames)

Definition at line 284 of file TaskSpaceVMP.cpp.

+ Here is the call graph for this function:

◆ learnDMPFromFiles() [2/2]

void learnDMPFromFiles ( const std::vector< std::string > & fileNames,
const std::vector< double > & ratios )

Definition at line 241 of file TaskSpaceVMP.cpp.

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

◆ learnDMPFromSampledTrajectory() [1/2]

void learnDMPFromSampledTrajectory ( const DMP::Vec< DMP::SampledTrajectoryV2 > & trajs)

◆ learnDMPFromSampledTrajectory() [2/2]

void learnDMPFromSampledTrajectory ( const DMP::Vec< DMP::SampledTrajectoryV2 > & trajs,
const std::vector< double > & ratios )

Definition at line 303 of file TaskSpaceVMP.cpp.

◆ learnDMPFromTrajectory()

void learnDMPFromTrajectory ( const TrajectoryPtr & traj)

Definition at line 318 of file TaskSpaceVMP.cpp.

◆ loadDMPFromString()

void loadDMPFromString ( const std::string & dmpStr)

Definition at line 341 of file TaskSpaceVMP.cpp.

◆ loadDMPFromXML()

void loadDMPFromXML ( const std::string & dmpXML)

Definition at line 361 of file TaskSpaceVMP.cpp.

+ Here is the call graph for this function:

◆ pauseController()

void pauseController ( )

Definition at line 613 of file TaskSpaceVMP.cpp.

◆ prepareExecution() [1/2]

void prepareExecution ( const Eigen::Matrix4f & currentPose,
const Eigen::Matrix4f & goalPose )

Definition at line 409 of file TaskSpaceVMP.cpp.

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

◆ prepareExecution() [2/2]

void prepareExecution ( const std::vector< double > & currentPoseVec,
const std::vector< double > & goalPoseVec )

Definition at line 419 of file TaskSpaceVMP.cpp.

◆ removeAllViaPoints()

void removeAllViaPoints ( )

Definition at line 403 of file TaskSpaceVMP.cpp.

◆ resumeController()

void resumeController ( )

Definition at line 619 of file TaskSpaceVMP.cpp.

◆ saveDMPToString()

std::string saveDMPToString ( )

Definition at line 352 of file TaskSpaceVMP.cpp.

◆ saveDMPToXML()

void saveDMPToXML ( const std::string & dmpXML)

Definition at line 373 of file TaskSpaceVMP.cpp.

+ Here is the call graph for this function:

◆ setAmplitude()

void setAmplitude ( double amp)

Definition at line 452 of file TaskSpaceVMP.cpp.

◆ setGoalPose()

void setGoalPose ( const Eigen::Matrix4f & goalPose)

Definition at line 595 of file TaskSpaceVMP.cpp.

+ Here is the call graph for this function:

◆ setGoalPoseVec()

void setGoalPoseVec ( const std::vector< double > goalPoseVec)

Definition at line 601 of file TaskSpaceVMP.cpp.

+ Here is the call graph for this function:

◆ setRatios()

void setRatios ( const std::vector< double > & ratios)

Definition at line 312 of file TaskSpaceVMP.cpp.

◆ setRotWeights()

void setRotWeights ( const std::vector< std::vector< double > > & weights)

Definition at line 642 of file TaskSpaceVMP.cpp.

◆ setSpeed()

void setSpeed ( double times)

Definition at line 441 of file TaskSpaceVMP.cpp.

◆ setTranslWeights()

void setTranslWeights ( const std::vector< std::vector< double > > & weights)

Definition at line 631 of file TaskSpaceVMP.cpp.

◆ setViaPose() [1/2]

void setViaPose ( double canVal,
const Eigen::Matrix4f & viaPose )

Definition at line 385 of file TaskSpaceVMP.cpp.

+ Here is the call graph for this function:
+ Here is the caller graph for this function:

◆ setViaPose() [2/2]

void setViaPose ( double canVal,
const std::vector< double > & viaPoseWithQuaternion )

Definition at line 392 of file TaskSpaceVMP.cpp.

◆ setWeights()

void setWeights ( const std::vector< std::vector< double > > & weights)

Definition at line 625 of file TaskSpaceVMP.cpp.

Member Data Documentation

◆ canVal

double canVal

Definition at line 158 of file TaskSpaceVMP.h.

◆ config

TaskSpaceDMPControllerConfig config

Definition at line 162 of file TaskSpaceVMP.h.

◆ debugData

DebugInfo debugData

Definition at line 142 of file TaskSpaceVMP.h.

◆ dmpName

std::string dmpName

Definition at line 160 of file TaskSpaceVMP.h.

◆ dmpPtr

DMP::UMITSMPPtr dmpPtr

Definition at line 161 of file TaskSpaceVMP.h.

◆ isPhaseStopControl

bool isPhaseStopControl

Definition at line 159 of file TaskSpaceVMP.h.

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