#include <kinematic-planner.hh>
Public Types | |
typedef std::vector < Eigen::ArrayXd, Eigen::aligned_allocator < Eigen::ArrayXd > > | stdVectorofArrayXd |
typedef std::vector < Eigen::ArrayXXd, Eigen::aligned_allocator < Eigen::ArrayXXd > > | stdVectorofArrayXXd |
typedef int | Dummy |
Public Member Functions | |
DYNAMIC_GRAPH_ENTITY_DECL () | |
KinematicPlanner (const std::string &name) | |
virtual | ~KinematicPlanner (void) |
template<typename Derived > | |
void | read2DArray (std::string &fileName, Eigen::DenseBase< Derived > &outArr) |
void | setParams (const double &_distanceToDrawer, const double &_objectPositionInDrawer, const std::string &dir) |
void | loadSourceDelays (const std::string &dir) |
void | loadTrainingParams (const std::string &dir, dynamicgraph::Matrix &q, dynamicgraph::Matrix &beta3, Eigen::ArrayXd &mwwn, double &sigma2, int &N, int &K) |
dynamicgraph::Vector | createSubGoals (double D, double P) |
void | delaySources () |
void | blending () |
void | smoothEnds (Eigen::Ref< Eigen::ArrayXd > tr) |
void | bSplineInterpolate (Eigen::ArrayXXd &tr, int factor) |
int & | runKinematicPlanner (int &dummy, int time) |
void | goalAdaption (dynamicgraph::Vector &goals, const std::string &) |
void | savitzkyGolayFilter (Eigen::Ref< Eigen::ArrayXXd > allJointTraj, int polyOrder, int frameSize) |
Public Attributes | |
Eigen::ArrayXd | npSource |
Eigen::ArrayXXd | pSource1 |
Eigen::ArrayXXd | pSource2 |
stdVectorofArrayXXd | pSourceDelayed1 |
stdVectorofArrayXXd | pSourceDelayed2 |
Eigen::ArrayXXd | pDelay1 |
Eigen::ArrayXXd | pDelay2 |
Eigen::ArrayXXd | wNonPeriodic |
stdVectorofArrayXXd | wPeriodic1 |
stdVectorofArrayXXd | wPeriodic2 |
Eigen::ArrayXXd | mJointAngle |
int | nJoints |
int | nGaitCycles |
int | nTimeSteps |
int | nSources1 |
int | nSources2 |
std::list < dynamicgraph::SignalBase < int > * > | genericSignalRefs |
bool | parametersSet |
typedef std::vector<Eigen::ArrayXd,Eigen::aligned_allocator<Eigen::ArrayXd> > dynamicgraph::sot::tools::KinematicPlanner::stdVectorofArrayXd |
typedef std::vector<Eigen::ArrayXXd,Eigen::aligned_allocator<Eigen::ArrayXXd> > dynamicgraph::sot::tools::KinematicPlanner::stdVectorofArrayXXd |
dynamicgraph::sot::tools::KinematicPlanner::KinematicPlanner | ( | const std::string & | name | ) |
References parametersSet, runKinematicPlanner(), and setParams().
|
virtual |
References genericSignalRefs.
void dynamicgraph::sot::tools::KinematicPlanner::blending | ( | ) |
References mJointAngle, nGaitCycles, nJoints, npSource, nSources1, nSources2, nTimeSteps, pSourceDelayed1, pSourceDelayed2, savitzkyGolayFilter(), smoothEnds(), wNonPeriodic, wPeriodic1, and wPeriodic2.
Referenced by runKinematicPlanner().
void dynamicgraph::sot::tools::KinematicPlanner::bSplineInterpolate | ( | Eigen::ArrayXXd & | tr, |
int | factor | ||
) |
References nGaitCycles, nJoints, and nTimeSteps.
dynamicgraph::Vector dynamicgraph::sot::tools::KinematicPlanner::createSubGoals | ( | double | D, |
double | P | ||
) |
Referenced by setParams().
void dynamicgraph::sot::tools::KinematicPlanner::delaySources | ( | ) |
References nJoints, nSources1, nSources2, nTimeSteps, pDelay1, pDelay2, pSource1, pSource2, pSourceDelayed1, and pSourceDelayed2.
Referenced by setParams().
dynamicgraph::sot::tools::KinematicPlanner::DYNAMIC_GRAPH_ENTITY_DECL | ( | ) |
void dynamicgraph::sot::tools::KinematicPlanner::goalAdaption | ( | dynamicgraph::Vector & | goals, |
const std::string & | dir | ||
) |
References loadTrainingParams(), mJointAngle, nJoints, nSources1, nSources2, wNonPeriodic, wPeriodic1, and wPeriodic2.
Referenced by setParams().
void dynamicgraph::sot::tools::KinematicPlanner::loadSourceDelays | ( | const std::string & | dir | ) |
References nJoints, npSource, nSources1, nSources2, nTimeSteps, pDelay1, pDelay2, pSource1, and pSource2.
Referenced by setParams().
void dynamicgraph::sot::tools::KinematicPlanner::loadTrainingParams | ( | const std::string & | dir, |
dynamicgraph::Matrix & | q, | ||
dynamicgraph::Matrix & | beta3, | ||
Eigen::ArrayXd & | mwwn, | ||
double & | sigma2, | ||
int & | N, | ||
int & | K | ||
) |
Referenced by goalAdaption().
void dynamicgraph::sot::tools::KinematicPlanner::read2DArray | ( | std::string & | fileName, |
Eigen::DenseBase< Derived > & | outArr | ||
) |
int & dynamicgraph::sot::tools::KinematicPlanner::runKinematicPlanner | ( | int & | dummy, |
int | time | ||
) |
References blending(), and parametersSet.
Referenced by KinematicPlanner().
void dynamicgraph::sot::tools::KinematicPlanner::savitzkyGolayFilter | ( | Eigen::Ref< Eigen::ArrayXXd > | allJointTraj, |
int | polyOrder, | ||
int | frameSize | ||
) |
Referenced by blending().
void dynamicgraph::sot::tools::KinematicPlanner::setParams | ( | const double & | _distanceToDrawer, |
const double & | _objectPositionInDrawer, | ||
const std::string & | dir | ||
) |
References createSubGoals(), delaySources(), goalAdaption(), loadSourceDelays(), mJointAngle, nGaitCycles, nJoints, npSource, nSources1, nSources2, nTimeSteps, parametersSet, pDelay1, pDelay2, pSource1, pSource2, pSourceDelayed1, pSourceDelayed2, wNonPeriodic, wPeriodic1, and wPeriodic2.
Referenced by KinematicPlanner().
void dynamicgraph::sot::tools::KinematicPlanner::smoothEnds | ( | Eigen::Ref< Eigen::ArrayXd > | tr | ) |
Referenced by blending().
std::list< dynamicgraph::SignalBase<int>* > dynamicgraph::sot::tools::KinematicPlanner::genericSignalRefs |
Referenced by ~KinematicPlanner().
Eigen::ArrayXXd dynamicgraph::sot::tools::KinematicPlanner::mJointAngle |
Referenced by blending(), goalAdaption(), and setParams().
int dynamicgraph::sot::tools::KinematicPlanner::nGaitCycles |
Referenced by blending(), bSplineInterpolate(), and setParams().
int dynamicgraph::sot::tools::KinematicPlanner::nJoints |
Referenced by blending(), bSplineInterpolate(), delaySources(), goalAdaption(), loadSourceDelays(), and setParams().
Eigen::ArrayXd dynamicgraph::sot::tools::KinematicPlanner::npSource |
Referenced by blending(), loadSourceDelays(), and setParams().
int dynamicgraph::sot::tools::KinematicPlanner::nSources1 |
Referenced by blending(), delaySources(), goalAdaption(), loadSourceDelays(), and setParams().
int dynamicgraph::sot::tools::KinematicPlanner::nSources2 |
Referenced by blending(), delaySources(), goalAdaption(), loadSourceDelays(), and setParams().
int dynamicgraph::sot::tools::KinematicPlanner::nTimeSteps |
Referenced by blending(), bSplineInterpolate(), delaySources(), loadSourceDelays(), and setParams().
bool dynamicgraph::sot::tools::KinematicPlanner::parametersSet |
Referenced by KinematicPlanner(), runKinematicPlanner(), and setParams().
Eigen::ArrayXXd dynamicgraph::sot::tools::KinematicPlanner::pDelay1 |
Referenced by delaySources(), loadSourceDelays(), and setParams().
Eigen::ArrayXXd dynamicgraph::sot::tools::KinematicPlanner::pDelay2 |
Referenced by delaySources(), loadSourceDelays(), and setParams().
Eigen::ArrayXXd dynamicgraph::sot::tools::KinematicPlanner::pSource1 |
Referenced by delaySources(), loadSourceDelays(), and setParams().
Eigen::ArrayXXd dynamicgraph::sot::tools::KinematicPlanner::pSource2 |
Referenced by delaySources(), loadSourceDelays(), and setParams().
stdVectorofArrayXXd dynamicgraph::sot::tools::KinematicPlanner::pSourceDelayed1 |
Referenced by blending(), delaySources(), and setParams().
stdVectorofArrayXXd dynamicgraph::sot::tools::KinematicPlanner::pSourceDelayed2 |
Referenced by blending(), delaySources(), and setParams().
Eigen::ArrayXXd dynamicgraph::sot::tools::KinematicPlanner::wNonPeriodic |
Referenced by blending(), goalAdaption(), and setParams().
stdVectorofArrayXXd dynamicgraph::sot::tools::KinematicPlanner::wPeriodic1 |
Referenced by blending(), goalAdaption(), and setParams().
stdVectorofArrayXXd dynamicgraph::sot::tools::KinematicPlanner::wPeriodic2 |
Referenced by blending(), goalAdaption(), and setParams().