#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

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.

	DMPInstance (DMP::DMPInterfacePtr dmpInter)

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

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

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

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

double	getCurrentTime ()

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

DMP::DMPInterfacePtr	getDMP ()

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

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

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

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

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

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

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

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

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

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

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

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

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

void	setCurrentTime (double t)

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

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

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

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

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

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.

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

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

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.

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

Constructor & Destructor Documentation

◆ DMPInstance() [1/3]

DMPInstance ( )

inline

DMPInstance constructs an empty instance of a basicDMP.

◆ DMPInstance() [2/3]

DMPInstance ( DMP::DMPInterfacePtr dmpInter )

inline

◆ 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

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

◆ calcNextStateFromConfig()

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

override

◆ 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

◆ calcTrajectoryFromConfig()

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

override

◆ 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

◆ createConfigMap()

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

◆ getAmpl()

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

override

getAmpl: get current amplitude of a dimension

Parameters

dim	the dimension concerned

◆ getCanonicalValues()

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

inlineoverride

getCanonicalValues: get current canonical values

◆ getCurrentState()

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

inlineoverride

getCurrentState: get current state in dmp

◆ getCurrentTime()

double getCurrentTime ( )

inline

◆ getDampingFactor()

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

inlineoverride

getDampingFactor: get dmp's damping factor

◆ getDMP()

DMP::DMPInterfacePtr getDMP ( )

inline

◆ getDMPDim()

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

inlineoverride

getDMPDim: get dimesions of dmp

◆ getDMPType()

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

inlineoverride

getDMPType: get dmp type

◆ 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

◆ getGoal()

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

◆ 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

◆ getNextStateWithCurrentState()

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

inlineoverride

getNextState: get next state according to the state given

◆ getSpringFactor()

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

inlineoverride

getSpringFactor: get dmp's spring factor

◆ getStartPosition()

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

inlineoverride

getStartPosition: get start position of dmp

◆ getTemporalFactor()

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

override

getTemporalFactor: get current temporal factor

◆ getTrajGoal()

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

override

getTrajGoal: get the goal of the training trajectory

◆ getTrajStartState()

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

override

getTrajStartState: get the start state of the training trajectory

◆ readTrajectoryFromFile()

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

override

◆ 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

◆ 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

◆ 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

◆ setCurrentTime()

void setCurrentTime ( double t )

inline

◆ setDMPState()

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

override

setDMPState set current state for dmp

Parameters

state state to set

◆ 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

◆ 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

◆ 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

◆ setTemporalFactor()

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

override

setTemporalFactor: set dmp temporal factor

◆ setTimeStep()

void setTimeStep ( double ts )

inline

◆ trainDMP()

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

override

Member Data Documentation

◆ canonicalValues

DMP::DVec canonicalValues

protected

◆ configs

configMap configs

protected

◆ ctime

double ctime

protected

◆ dmp

DMP::DMPInterfacePtr dmp

protected

◆ dmpName

std::string dmpName

protected

◆ dmpState

cStateVec dmpState

protected

◆ dmpType

std::string dmpType

protected

◆ timestep

double timestep

protected

◆ trajs

TrajVec trajs

protected

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

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