List of all members | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Friends
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 }
 

Detailed Description

Definition at line 40 of file MotionModelKBM.h.

Constructor & Destructor Documentation

◆ MotionModelKBM() [1/2]

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

Definition at line 40 of file MotionModelKBM.cpp.

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◆ MotionModelKBM() [2/2]

MotionModelKBM ( )
inlineprotected

Definition at line 85 of file MotionModelKBM.h.

Member Function Documentation

◆ CreateKBMFromSamples()

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

Definition at line 283 of file MotionModelKBM.cpp.

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◆ 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

Definition at line 414 of file MotionModelKBM.cpp.

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◆ getJointAngles()

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

Definition at line 123 of file MotionModelKBM.cpp.

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◆ getMotionModelType()

AbstractMotionModel::EMotionModelType getMotionModelType ( )
inlineoverridevirtual

Implements AbstractMotionModel.

Definition at line 49 of file MotionModelKBM.h.

◆ getPredictedPoseInternal()

armarx::LinkedPosePtr getPredictedPoseInternal ( )
overrideprotectedvirtual

Implements AbstractMotionModel.

Definition at line 91 of file MotionModelKBM.cpp.

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◆ getUncertaintyInternal()

memoryx::MultivariateNormalDistributionBasePtr getUncertaintyInternal ( )
overrideprotectedvirtual

Implements AbstractMotionModel.

Definition at line 372 of file MotionModelKBM.cpp.

◆ ice_postUnmarshal()

void ice_postUnmarshal ( )
overrideprotected

Definition at line 408 of file MotionModelKBM.cpp.

◆ periodicUpdate()

void periodicUpdate ( )
protected

Definition at line 138 of file MotionModelKBM.cpp.

◆ setPoseAtLastLocalisation()

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

Definition at line 56 of file MotionModelKBM.cpp.

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Friends And Related Symbol Documentation

◆ armarx::GenericFactory

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

Definition at line 83 of file MotionModelKBM.h.

Member Data Documentation

◆ kbm

KBM::Models::KBM_ptr kbm
protected

Definition at line 89 of file MotionModelKBM.h.

◆ memoryName

std::string memoryName
protected

Definition at line 93 of file MotionModelKBM.h.

◆ robot

VirtualRobot::RobotPtr robot
protected

Definition at line 90 of file MotionModelKBM.h.

◆ updaterThreadTask

armarx::PeriodicTask<MotionModelKBM>::pointer_type updaterThreadTask
protected

Definition at line 92 of file MotionModelKBM.h.

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