armarx::KBMComponentInterface

Overview

interface KBMComponentInterface

Operation Index

createKBM

@brief createKBM creates a new KBM and makes it available under the given name @param name the name of the KBM @param nDoF degrees of freedom @param dim dimensions @param spreadAngle the common spreadAngle for joints

createArmar3KBM

@brief createArmar3KBM creates a KBM from a VirtualRobot model @param name the KBM will be available under this name @param activeJoints the names of the joints that are used @param tcpName name of the joint that corresponds best to the tool center point @param useOrientation use only the position (3 dimensions) or position and orientation (9 dimensions in total)

batch

@brief batch learning of n training samples @param name the name of the KBM @param proprioception length must be DoF * n @param position length must be Dim * n @param method will be mapped to the Enum in the KBM class, currently 0 = STANDARD, 1 = PLS @param threshold should equal the expected mean positioning error

online

@brief online learning of n training samples @param name the name of the KBM @param proprioception length must be DoF * n @param position length must be Dim * n @param learnRate learning rate between 0 and 1

onlineVerbose

@brief online learning of n training samples @param name the name of the KBM @param proprioception length must be DoF * n @param position length must be Dim * n @param learnRate learning rate between 0 and 1

predict

@brief predict the position for n samples of proprioception (forward kinematics) @param name the name of the KBM @param proprioception length must be DoF * n @return the predicted position with length Dim * n

printErrors

@brief calls getErrors on the KBM and prints the result @param name the name of the KBM @param proprioception the proprioception to pass to getErrors @param position the position to pass to getErrors

accumulatePositions

@brief accumulate adds the given position to the accumulator to use it later @param position length must be Dim * n

accumulateEvaluationPositions

getRawJointValuesAverages

@brief getRawJointValuesAverages calculates the average raw joint values for each joint from the data stored in the raw joint values accumulator.

getSpreadAngles

@brief getSpreadAngles returns the spreadAngles calculated using the data in the proprioceptionAccumulator

accumulateProprioceptions

@brief accumualteProprioceptions accumulates proprioceptions

accumulateEvaluationProprioceptions

accumulateRawJointValues

@brief accumualteRawJointValues accumulates raw joint values that will be transformed to proprioceptions later

setProprioceptionAccumulatorFromRawJointAccumulator

@brief setProprioceptionAccumulatorFromRawJointAccumulator updates the proprioception accumulator

setPositionLimits

@brief setPositionLimits sets the position limits using the data in the position accumulator

onlineAccumulator

@brief onlineAccumulator calls online after transforming the raw joint accumulator to proprioceptions

onlineAccumulatorVerbose

@brief onlineAccumulatorVerbose same as onlineAccumulator, but evaluates after each learning step

batchAccumulator

@brief the same as batch but with the data from the accumulator

printErrorsAccumulator

@brief the same as printErrors but with the data from the accumulator

printAccumulatorStatistics

@brief printAccumulatorStatistics prints information about the values in the accumulators

predictAccumulator

@brief the same as predict but with the data from the accumulator, however the results are currently just printed and not returned

solveGlobalIK

@brief solveGlobalIK solves the global inverse kinematics for the given position @param name the name of the KBM @param targetPosition @return the proprioception

solveDifferentialIK

@brief solveDifferentialIK solves the differential inverse kinematics for the given position @param name the name of the KBM @param targetPosition @param currentPosition @param currentProprioception @return the proprioception

storeToMemory

restoreFromMemory

isInMemory

kbmNames

Returns the names of the existing KBMs

clearAccumulators

Clears the accumulators

Operations

void createKBM(string name, int nDoF, int dim, float spreadAngle)

void createArmar3KBM(string name, ::Ice::StringSeq activeJoints, ::Ice::DoubleSeq jointValueAverages, ::Ice::DoubleSeq spreadAngles, string tcpName, bool useOrientation)

void batch(string name, ::Ice::DoubleSeq proprioception, ::Ice::DoubleSeq position, int method, float threshold)

void online(string name, ::Ice::DoubleSeq proprioception, ::Ice::DoubleSeq position, float learnRate)

void onlineVerbose(string name, ::Ice::DoubleSeq proprioception, ::Ice::DoubleSeq position, float learnRate, ::Ice::DoubleSeq evaluationProprioception, ::Ice::DoubleSeq evaluationPosition)

::Ice::DoubleSeq predict(string name, ::Ice::DoubleSeq proprioception)

void printErrors(string name, ::Ice::DoubleSeq proprioception, ::Ice::DoubleSeq position)

void accumulatePositions(::Ice::DoubleSeq position)

void accumulateEvaluationPositions(::Ice::DoubleSeq position)

::Ice::DoubleSeq getRawJointValuesAverages(int nDoF)

::Ice::DoubleSeq getSpreadAngles(int nDoF)

void accumulateProprioceptions(::Ice::DoubleSeq proprioceptions)

void accumulateEvaluationProprioceptions(::Ice::DoubleSeq proprioceptions)

void accumulateRawJointValues(::Ice::DoubleSeq rawJointValuesSequence)

void setProprioceptionAccumulatorFromRawJointAccumulator(::Ice::DoubleSeq rawJointValuesAverages)

void setPositionLimits(int nDim)

void onlineAccumulator(string name, float learningRate)

void onlineAccumulatorVerbose(string name, float learningRate)

void batchAccumulator(string name, int method, float threshold)

void printErrorsAccumulator(string name)

void printAccumulatorStatistics(int nDim, int nDoF)

void predictAccumulator(string name)

::Ice::DoubleSeq solveGlobalIK(string name, ::Ice::DoubleSeq targetPosition)

::Ice::DoubleSeq solveDifferentialIK(string name, ::Ice::DoubleSeq targetPosition, ::Ice::DoubleSeq currentPosition, ::Ice::DoubleSeq currentProprioception, ::Ice::DoubleSeq lowerProprioceptionLimits, ::Ice::DoubleSeq upperProprioceptionLimits)

void storeToMemory(string kbmName, string nodeSetName, string referenceNodeName, string robotName)

void restoreFromMemory(string name, string nodeSetName, string referenceNodeName, string robotName)

bool isInMemory(string nodeSetName, string referenceNodeName, string robotName)

::Ice::StringSeq kbmNames()

void clearAccumulators()