MotionModelKBM Class Reference

#include <MemoryX/libraries/motionmodels/MotionModelKBM.h>

Inheritance diagram for MotionModelKBM:

Public Member Functions
AbstractMotionModel::EMotionModelType	getMotionModelType () override
	MotionModelKBM (std::string referenceNodeName, std::string nodeSetName, armarx::RobotStateComponentInterfacePrx robotStateProxy, memoryx::LongtermMemoryInterfacePrx longtermMemoryPrx)
void	setPoseAtLastLocalisation (const armarx::LinkedPoseBasePtr &poseAtLastLocalization, const armarx::PoseBasePtr &globalRobotPoseAtLastLocalization, const MultivariateNormalDistributionBasePtr &uncertaintyAtLastLocalization, const Ice::Current &c=Ice::emptyCurrent) override
Public Member Functions inherited from AbstractMotionModel
	AbstractMotionModel (armarx::RobotStateComponentInterfacePrx robotStateProxy)
virtual std::string	getMotionModelName ()
armarx::LinkedPoseBasePtr	getPoseAtLastLocalisation (const Ice::Current &=Ice::emptyCurrent) override
armarx::LinkedPoseBasePtr	getPredictedPose (const Ice::Current &=Ice::emptyCurrent) override
armarx::LinkedPoseBasePtr	getPredictedPoseAtStartOfCurrentLocalization (const Ice::Current &=Ice::emptyCurrent) override
MultivariateNormalDistributionBasePtr	getUncertainty (const Ice::Current &=Ice::emptyCurrent) override
MultivariateNormalDistributionBasePtr	getUncertaintyAtStartOfCurrentLocalization (const Ice::Current &=Ice::emptyCurrent) override
void	savePredictedPoseAtStartOfCurrentLocalization (const Ice::Current &=Ice::emptyCurrent) override
void	setPoseAtLastLocalisation (const armarx::LinkedPoseBasePtr &poseAtLastLocalization, const armarx::PoseBasePtr &globalRobotPoseAtLastLocalization, const MultivariateNormalDistributionBasePtr &uncertaintyAtLastLocalization, const Ice::Current &=Ice::emptyCurrent) override

Static Public Member Functions
static KBM::Models::KBM_ptr	CreateKBMFromSamples (VirtualRobot::RobotPtr robot, VirtualRobot::RobotNodeSetPtr nodeSet, VirtualRobot::SceneObjectPtr referenceFrame)
static void	CreateSample (VirtualRobot::RobotNodeSetPtr nodeSet, Eigen::VectorXf jointMax, Eigen::VectorXf jointMin, VirtualRobot::RobotNodePtr root, VirtualRobot::RobotNodePtr TCP, Ice::DoubleSeq &prop, Ice::DoubleSeq &shape)
Static Public Member Functions inherited from AbstractMotionModel
static EMotionModelType	getMotionModelTypeByName (std::string motionModelName)

Protected Member Functions
Eigen::MatrixXf	getJointAngles (armarx::SharedRobotInterfacePrx robotPrx)
armarx::LinkedPosePtr	getPredictedPoseInternal () override
MultivariateNormalDistributionBasePtr	getUncertaintyInternal () override
void	ice_postUnmarshal () override
	MotionModelKBM ()
void	periodicUpdate ()
Protected Member Functions inherited from AbstractMotionModel
	AbstractMotionModel ()

Protected Attributes
KBM::Models::KBM_ptr	kbm
std::string	memoryName
VirtualRobot::RobotPtr	robot
armarx::PeriodicTask< MotionModelKBM >::pointer_type	updaterThreadTask
Protected Attributes inherited from AbstractMotionModel
std::recursive_mutex	motionPredictionLock

Friends
template<class IceBaseClass, class DerivedClass>
class	armarx::GenericFactory

Additional Inherited Members
Public Types inherited from AbstractMotionModel
enum	EMotionModelType { eMotionModelStaticObject , eMotionModelRobotHand , eMotionModelAttachedToOtherObject , eMotionModelKBM }

Constructor & Destructor Documentation

MotionModelKBM() [1/2]

MotionModelKBM	(	std::string	referenceNodeName,
		std::string	nodeSetName,
		armarx::RobotStateComponentInterfacePrx	robotStateProxy,
		memoryx::LongtermMemoryInterfacePrx	longtermMemoryPrx )

MotionModelKBM() [2/2]

MotionModelKBM ( )

inlineprotected

Member Function Documentation

CreateKBMFromSamples()

KBM::Models::KBM_ptr CreateKBMFromSamples ( VirtualRobot::RobotPtr robot, VirtualRobot::RobotNodeSetPtr nodeSet, VirtualRobot::SceneObjectPtr referenceFrame )

static

CreateSample()

void CreateSample ( VirtualRobot::RobotNodeSetPtr nodeSet, Eigen::VectorXf jointMax, Eigen::VectorXf jointMin, VirtualRobot::RobotNodePtr root, VirtualRobot::RobotNodePtr TCP, Ice::DoubleSeq & prop, Ice::DoubleSeq & shape )

static

getJointAngles()

Eigen::MatrixXf getJointAngles ( armarx::SharedRobotInterfacePrx robotPrx )

protected

getMotionModelType()

AbstractMotionModel::EMotionModelType getMotionModelType ( )

inlineoverridevirtual

Implements AbstractMotionModel.

getPredictedPoseInternal()

armarx::LinkedPosePtr getPredictedPoseInternal ( )

overrideprotectedvirtual

Implements AbstractMotionModel.

getUncertaintyInternal()

memoryx::MultivariateNormalDistributionBasePtr getUncertaintyInternal ( )

overrideprotectedvirtual

Implements AbstractMotionModel.

ice_postUnmarshal()

void ice_postUnmarshal ( )

overrideprotected

periodicUpdate()

void periodicUpdate ( )

protected

setPoseAtLastLocalisation()

void setPoseAtLastLocalisation ( const armarx::LinkedPoseBasePtr & poseAtLastLocalization, const armarx::PoseBasePtr & globalRobotPoseAtLastLocalization, const MultivariateNormalDistributionBasePtr & uncertaintyAtLastLocalization, const Ice::Current & c = Ice::emptyCurrent )

override

Friends And Related Symbol Documentation

armarx::GenericFactory

template<class IceBaseClass, class DerivedClass>

friend class armarx::GenericFactory

friend

Member Data Documentation

kbm

KBM::Models::KBM_ptr kbm

protected

memoryName

std::string memoryName

protected

robot

VirtualRobot::RobotPtr robot

protected

updaterThreadTask

armarx::PeriodicTask<MotionModelKBM>::pointer_type updaterThreadTask

protected

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

• MemoryX/libraries/motionmodels/MotionModelKBM.h
• MemoryX/libraries/motionmodels/MotionModelKBM.cpp