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

Inheritance diagram for DMPInstance:

Public Member Functions
nStateValues	calcNextState (double t, const Ice::DoubleSeq &goal, double currentT, const Vec2D &currentStates, const Ice::DoubleSeq &canonicalValues, double temporalFactor, const ::Ice::Current &=Ice::emptyCurrent) override

nStateValues	calcNextStateFromConfig (double t, double currentT, const Vec2D &currentStates, const Ice::DoubleSeq &canonicalValues, const Ice::Current &=Ice::emptyCurrent) override

Vec2D	calcTrajectory (double startTime, double timestep, double endTime, const ::Ice::DoubleSeq &goal, const cStateVec &initStates, const ::Ice::DoubleSeq &canonicalValues, double temporalFactor, const Ice::Current &=Ice::emptyCurrent) override
	calcTrajectory solves the DMP for all Timesteps More...

Vec2D	calcTrajectoryFromConfig (const Ice::DoubleSeq &timestamps, const Vec2D &initStates, const Ice::DoubleSeq &canonicalValues, const Ice::Current &=Ice::emptyCurrent) override

Vec2D	calcTrajectoryV2 (const Ice::DoubleSeq &timestamps, const Ice::DoubleSeq &goal, const Vec2D &initStates, const Ice::DoubleSeq &canonicalValues, double temporalFactor, const Ice::Current &=Ice::emptyCurrent) override

configMap	createConfigMap (DMP::Vec< std::string > paraIDs, DMP::Vec< paraType > paraVals)

	DMPInstance ()
	DMPInstance constructs an empty instance of a basicDMP. More...

	DMPInstance (DMP::DMPInterfacePtr dmpInter)

	DMPInstance (DMP::DMPInterfacePtr dmpInter, std::string DMPType)
	DMPInstance constructs a new instance of the specified DMP. More...

double	getAmpl (int dim, const ::Ice::Current &=Ice::emptyCurrent) override
	getAmpl: get current amplitude of a dimension More...

Ice::DoubleSeq	getCanonicalValues (const ::Ice::Current &=Ice::emptyCurrent) override
	getCanonicalValues: get current canonical values More...

cStateVec	getCurrentState (const ::Ice::Current &=Ice::emptyCurrent) override
	getCurrentState: get current state in dmp More...

double	getCurrentTime ()

double	getDampingFactor (const ::Ice::Current &=Ice::emptyCurrent) override
	getDampingFactor: get dmp's damping factor More...

DMP::DMPInterfacePtr	getDMP ()

int	getDMPDim (const ::Ice::Current &=Ice::emptyCurrent) override
	getDMPDim: get dimesions of dmp More...

std::string	getDMPType (const ::Ice::Current &=Ice::emptyCurrent) override
	getDMPType: get dmp type More...

double	getForceTerm (const Ice::DoubleSeq &canVal, int dim, const ::Ice::Current &=Ice::emptyCurrent) override
	getForceTerm: get force termf for one dimension at a specified canonical values More...

Ice::DoubleSeq	getGoal (const Ice::Current &=Ice::emptyCurrent)

cStateVec	getNextState (const cStateVec &states, const ::Ice::Current &=Ice::emptyCurrent) override
	getNextState: get next state according to the state given More...

cStateVec	getNextStateWithCurrentState (const ::Ice::Current &=Ice::emptyCurrent) override
	getNextState: get next state according to the state given More...

double	getSpringFactor (const ::Ice::Current &=Ice::emptyCurrent) override
	getSpringFactor: get dmp's spring factor More...

Ice::DoubleSeq	getStartPosition (const ::Ice::Current &=Ice::emptyCurrent) override
	getStartPosition: get start position of dmp More...

double	getTemporalFactor (const ::Ice::Current &=Ice::emptyCurrent) override
	getTemporalFactor: get current temporal factor More...

Ice::DoubleSeq	getTrajGoal (const ::Ice::Current &=Ice::emptyCurrent) override
	getTrajGoal: get the goal of the training trajectory More...

cStateVec	getTrajStartState (const ::Ice::Current &=Ice::emptyCurrent) override
	getTrajStartState: get the start state of the training trajectory More...

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

void	setAmpl (int dim, double value, const ::Ice::Current &=Ice::emptyCurrent) override
	setAmpl: set amplitude for dmp More...

void	setCanonicalValues (const Ice::DoubleSeq &value, const ::Ice::Current &=Ice::emptyCurrent) override
	setCanonicalValues: set dmp canonicalValues to control the dmp's state More...

void	setConfigurationMap (const DMPConfigMap &value, const ::Ice::Current &=Ice::emptyCurrent) override
	setConfigurationMap set dmp configurations using configMap More...

void	setCurrentTime (double t)

void	setDMPState (const cStateVec &state, const ::Ice::Current &=Ice::emptyCurrent) override
	setDMPState set current state for dmp More...

void	setGoal (const Ice::DoubleSeq &value, const ::Ice::Current &=Ice::emptyCurrent) override
	setGoal set the goal for dmp More...

void	setParameter (const std::string &paraId, const Ice::DoubleSeq &value, const ::Ice::Current &=Ice::emptyCurrent) override
	setParameter set parameters for More...

void	setStartPosition (const Ice::DoubleSeq &value, const ::Ice::Current &=Ice::emptyCurrent) override
	setStartPosition set the start position for dmp More...

void	setTemporalFactor (double value, const ::Ice::Current &=Ice::emptyCurrent) override
	setTemporalFactor: set dmp temporal factor More...

void	setTimeStep (double ts)

void	trainDMP (const ::Ice::Current &=Ice::emptyCurrent) override

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. More...

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set. More...

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Protected Attributes
DMP::DVec	canonicalValues

configMap	configs

double	ctime

DMP::DMPInterfacePtr	dmp

std::string	dmpName

cStateVec	dmpState

std::string	dmpType

double	timestep

TrajVec	trajs

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Additional Inherited Members
Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender. More...

LogSenderPtr	loghelper (const char file, int line, const char function) const

Detailed Description

Definition at line 80 of file DMPInstance.h.

Constructor & Destructor Documentation

◆ DMPInstance() [1/3]

DMPInstance ( )

inline

DMPInstance constructs an empty instance of a basicDMP.

Definition at line 87 of file DMPInstance.h.

◆ DMPInstance() [2/3]

DMPInstance ( DMP::DMPInterfacePtr dmpInter )

inline

Definition at line 93 of file DMPInstance.h.

◆ DMPInstance() [3/3]

DMPInstance	(	DMP::DMPInterfacePtr	dmpInter,
		std::string	DMPType
	)

DMPInstance constructs a new instance of the specified DMP.

Parameters

dmpInter	pointer to the dmp
DMPType	type of dmp

Definition at line 92 of file DMPInstance.cpp.

Member Function Documentation

◆ calcNextState()

armarx::nStateValues calcNextState	(	double	t,
		const Ice::DoubleSeq &	goal,
		double	currentT,
		const Vec2D &	currentStates,
		const Ice::DoubleSeq &	canonicalValues,
		double	temporalFactor,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 136 of file DMPInstance.cpp.

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◆ calcNextStateFromConfig()

armarx::nStateValues calcNextStateFromConfig	(	double	t,
		double	currentT,
		const Vec2D &	currentStates,
		const Ice::DoubleSeq &	canonicalValues,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 199 of file DMPInstance.cpp.

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◆ calcTrajectory()

Vec2D calcTrajectory	(	double	startTime,
		double	timestep,
		double	endTime,
		const ::Ice::DoubleSeq &	goal,
		const cStateVec &	initStates,
		const ::Ice::DoubleSeq &	canonicalValues,
		double	temporalFactor,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

calcTrajectory solves the DMP for all Timesteps

Calculates the Trajectory for the trained DMP given the goal and inital State for all Dimensions

Parameters

timestamps	The timesteps for which the trajecotry should be calculated
goal	The target(goal) position for all dimensions of the trajectory
initStates	the initial States of the DMP
canonicalValues	The canonical Value for the DMP
temporalFactor	his factor determines the duration of the trajectory. The duration scales linear with this factor.

Returns: The Trajectory which is created by the DMP, containing all the States of the DMP for each timestep

Definition at line 430 of file DMPInstance.cpp.

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◆ calcTrajectoryFromConfig()

Vec2D calcTrajectoryFromConfig	(	const Ice::DoubleSeq &	timestamps,
		const Vec2D &	initStates,
		const Ice::DoubleSeq &	canonicalValues,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 513 of file DMPInstance.cpp.

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◆ calcTrajectoryV2()

Vec2D calcTrajectoryV2	(	const Ice::DoubleSeq &	timestamps,
		const Ice::DoubleSeq &	goal,
		const Vec2D &	initStates,
		const Ice::DoubleSeq &	canonicalValues,
		double	temporalFactor,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 469 of file DMPInstance.cpp.

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◆ createConfigMap()

configMap createConfigMap	(	DMP::Vec< std::string >	paraIDs,
		DMP::Vec< paraType >	paraVals
	)

Definition at line 227 of file DMPInstance.cpp.

◆ getAmpl()

double getAmpl	(	int	dim,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

getAmpl: get current amplitude of a dimension

Parameters

dim	the dimension concerned

Definition at line 323 of file DMPInstance.cpp.

◆ getCanonicalValues()

Ice::DoubleSeq getCanonicalValues ( const ::Ice::Current & = Ice::emptyCurrent )

inlineoverride

getCanonicalValues: get current canonical values

Definition at line 191 of file DMPInstance.h.

◆ getCurrentState()

cStateVec getCurrentState ( const ::Ice::Current & = Ice::emptyCurrent )

inlineoverride

getCurrentState: get current state in dmp

Definition at line 282 of file DMPInstance.h.

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◆ getCurrentTime()

double getCurrentTime ( )

inline

Definition at line 333 of file DMPInstance.h.

◆ getDampingFactor()

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

inlineoverride

getDampingFactor: get dmp's damping factor

Definition at line 200 of file DMPInstance.h.

◆ getDMP()

DMP::DMPInterfacePtr getDMP ( )

inline

Definition at line 314 of file DMPInstance.h.

◆ getDMPDim()

int getDMPDim ( const ::Ice::Current & = Ice::emptyCurrent )

inlineoverride

getDMPDim: get dimesions of dmp

Definition at line 227 of file DMPInstance.h.

◆ getDMPType()

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

inlineoverride

getDMPType: get dmp type

Definition at line 218 of file DMPInstance.h.

◆ getForceTerm()

double getForceTerm	(	const Ice::DoubleSeq &	canVal,
		int	dim,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

getForceTerm: get force termf for one dimension at a specified canonical values

Parameters

canVal	corresponding canonical value
dim	the dimension concerned

Definition at line 335 of file DMPInstance.cpp.

◆ getGoal()

Ice::DoubleSeq getGoal ( const Ice::Current & = Ice::emptyCurrent )

Definition at line 341 of file DMPInstance.cpp.

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◆ getNextState()

cStateVec getNextState	(	const cStateVec &	states,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

getNextState: get next state according to the state given

Parameters

states the current state given to the function

Definition at line 103 of file DMPInstance.cpp.

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◆ getNextStateWithCurrentState()

cStateVec getNextStateWithCurrentState ( const ::Ice::Current & = Ice::emptyCurrent )

inlineoverride

getNextState: get next state according to the state given

Definition at line 266 of file DMPInstance.h.

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◆ getSpringFactor()

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

inlineoverride

getSpringFactor: get dmp's spring factor

Definition at line 209 of file DMPInstance.h.

◆ getStartPosition()

Ice::DoubleSeq getStartPosition ( const ::Ice::Current & = Ice::emptyCurrent )

inlineoverride

getStartPosition: get start position of dmp

Definition at line 236 of file DMPInstance.h.

◆ getTemporalFactor()

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

override

getTemporalFactor: get current temporal factor

Definition at line 329 of file DMPInstance.cpp.

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◆ getTrajGoal()

Ice::DoubleSeq getTrajGoal ( const ::Ice::Current & = Ice::emptyCurrent )

override

getTrajGoal: get the goal of the training trajectory

Definition at line 357 of file DMPInstance.cpp.

◆ getTrajStartState()

cStateVec getTrajStartState ( const ::Ice::Current & = Ice::emptyCurrent )

override

getTrajStartState: get the start state of the training trajectory

Definition at line 369 of file DMPInstance.cpp.

◆ readTrajectoryFromFile()

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

override

Definition at line 387 of file DMPInstance.cpp.

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◆ setAmpl()

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

override

setAmpl: set amplitude for dmp

Parameters

dim	the dimension concerned
value	new amplitude

Definition at line 275 of file DMPInstance.cpp.

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◆ setCanonicalValues()

void setCanonicalValues	(	const Ice::DoubleSeq &	value,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

setCanonicalValues: set dmp canonicalValues to control the dmp's state

Parameters

value current canonical values needed

Definition at line 269 of file DMPInstance.cpp.

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◆ setConfigurationMap()

void setConfigurationMap	(	const DMPConfigMap &	value,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

setConfigurationMap set dmp configurations using configMap

Parameters

value configMap saves all possible configurations for dmp

Definition at line 212 of file DMPInstance.cpp.

◆ setCurrentTime()

void setCurrentTime ( double t )

inline

Definition at line 327 of file DMPInstance.h.

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◆ setDMPState()

void setDMPState	(	const cStateVec &	state,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

setDMPState set current state for dmp

Parameters

state state to set

Definition at line 315 of file DMPInstance.cpp.

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◆ setGoal()

void setGoal	(	const Ice::DoubleSeq &	value,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

setGoal set the goal for dmp

Parameters

value the vector used to specify goal vector

Definition at line 287 of file DMPInstance.cpp.

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◆ setParameter()

void setParameter	(	const std::string &	paraId,
		const Ice::DoubleSeq &	value,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

setParameter set parameters for

Parameters

paraId	pointer to the dmp
value	type of dmp

Definition at line 251 of file DMPInstance.cpp.

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◆ setStartPosition()

void setStartPosition	(	const Ice::DoubleSeq &	value,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

setStartPosition set the start position for dmp

Parameters

value the vector used to define start position

Definition at line 301 of file DMPInstance.cpp.

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◆ setTemporalFactor()

void setTemporalFactor	(	double	value,
		const ::Ice::Current &	= `Ice::emptyCurrent`
	)

override

setTemporalFactor: set dmp temporal factor

Definition at line 281 of file DMPInstance.cpp.

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◆ setTimeStep()

void setTimeStep ( double ts )

inline

Definition at line 321 of file DMPInstance.h.

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◆ trainDMP()

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

override

Definition at line 424 of file DMPInstance.cpp.

Member Data Documentation

◆ canonicalValues

DMP::DVec canonicalValues

protected

Definition at line 371 of file DMPInstance.h.

◆ configs

configMap configs

protected

Definition at line 364 of file DMPInstance.h.

◆ ctime

double ctime

protected

Definition at line 365 of file DMPInstance.h.

◆ dmp

DMP::DMPInterfacePtr dmp

protected

Definition at line 363 of file DMPInstance.h.

◆ dmpName

std::string dmpName

protected

Definition at line 370 of file DMPInstance.h.

◆ dmpState

cStateVec dmpState

protected

Definition at line 372 of file DMPInstance.h.

◆ dmpType

std::string dmpType

protected

Definition at line 362 of file DMPInstance.h.

◆ timestep

double timestep

protected

Definition at line 367 of file DMPInstance.h.

◆ trajs

TrajVec trajs

protected

Definition at line 369 of file DMPInstance.h.

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

RobotComponents/components/DMPComponent/DMPInstance.h
RobotComponents/components/DMPComponent/DMPInstance.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DMPInstance() [1/3]

◆ DMPInstance() [2/3]

◆ DMPInstance() [3/3]

Member Function Documentation

◆ calcNextState()

◆ calcNextStateFromConfig()

◆ calcTrajectory()

◆ calcTrajectoryFromConfig()

◆ calcTrajectoryV2()

◆ createConfigMap()

◆ getAmpl()

◆ getCanonicalValues()

◆ getCurrentState()

◆ getCurrentTime()

◆ getDampingFactor()

◆ getDMP()

◆ getDMPDim()

◆ getDMPType()

◆ getForceTerm()

◆ getGoal()

◆ getNextState()

◆ getNextStateWithCurrentState()

◆ getSpringFactor()

◆ getStartPosition()

◆ getTemporalFactor()

◆ getTrajGoal()

◆ getTrajStartState()

◆ readTrajectoryFromFile()

◆ setAmpl()

◆ setCanonicalValues()

◆ setConfigurationMap()

◆ setCurrentTime()

◆ setDMPState()

◆ setGoal()

◆ setParameter()

◆ setStartPosition()

◆ setTemporalFactor()

◆ setTimeStep()

◆ trainDMP()

Member Data Documentation

◆ canonicalValues

◆ configs

◆ ctime

◆ dmp

◆ dmpName

◆ dmpState

◆ dmpType

◆ timestep

◆ trajs