armarx::DMPInstanceBase

Overview

[ "cpp:virtual" ] class DMPInstanceBase

Operation Index

calcTrajectory

setParameter

setGoal

setStartPosition

setDMPState

setConfigurationMap

setAmpl

setCanonicalValues

setTemporalFactor

getAmpl

getForceTerm

getTemporalFactor

getNextState

getNextStateWithCurrentState

getCurrentState

getCanonicalValues

getDampingFactor

getSpringFactor

getDMPType

getDMPDim

getStartPosition

getTrajGoal

getTrajStartState

readTrajectoryFromFile

trainDMP

calcNextState

calcNextStateFromConfig

calcTrajectoryV2

calcTrajectoryFromConfig

Operations

Vec2D calcTrajectory(double startTime, double timestep, double endTime, ::Ice::DoubleSeq goal, cStateVec currentStates, ::Ice::DoubleSeq canonicalValues, double temporalFactor) throws InvalidArgumentException

void setParameter(string paraId, ::Ice::DoubleSeq value) throws InvalidArgumentException

void setGoal(::Ice::DoubleSeq value) throws InvalidArgumentException

void setStartPosition(::Ice::DoubleSeq value) throws InvalidArgumentException

void setDMPState(cStateVec state) throws InvalidArgumentException

void setConfigurationMap(DMPConfigMap value) throws InvalidArgumentException

void setAmpl(int dim, double value)

void setCanonicalValues(::Ice::DoubleSeq value) throws InvalidArgumentException

void setTemporalFactor(double value)

double getAmpl(int dim)

double getForceTerm(::Ice::DoubleSeq value, int dim)

double getTemporalFactor()

cStateVec getNextState(cStateVec states) throws InvalidArgumentException

cStateVec getNextStateWithCurrentState()

cStateVec getCurrentState()

::Ice::DoubleSeq getCanonicalValues()

double getDampingFactor()

double getSpringFactor()

string getDMPType()

int getDMPDim()

::Ice::DoubleSeq getStartPosition()

::Ice::DoubleSeq getTrajGoal()

cStateVec getTrajStartState()

void readTrajectoryFromFile(string file, double times)

void trainDMP()

nStateValues calcNextState(double t, ::Ice::DoubleSeq goal, double currentT, Vec2D currentStates, ::Ice::DoubleSeq canonicalValues, double temporalFactor) throws InvalidArgumentException

nStateValues calcNextStateFromConfig(double t, double currentT, Vec2D currentStates, ::Ice::DoubleSeq canonicalValues) throws InvalidArgumentException

Vec2D calcTrajectoryV2(::Ice::DoubleSeq timestamps, ::Ice::DoubleSeq goal, Vec2D currentStates, ::Ice::DoubleSeq canonicalValues, double temporalFactor) throws InvalidArgumentException

Vec2D calcTrajectoryFromConfig(::Ice::DoubleSeq timestamps, Vec2D currentStates, ::Ice::DoubleSeq canonicalValues) throws InvalidArgumentException