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