dynamicgraph::sot::tools::KinematicPlanner Class Reference

#include <kinematic-planner.hh>

Inheritance diagram for dynamicgraph::sot::tools::KinematicPlanner:
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List of all members.

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

Member Typedef Documentation

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

Constructor & Destructor Documentation

dynamicgraph::sot::tools::KinematicPlanner::KinematicPlanner ( const std::string &  name)
dynamicgraph::sot::tools::KinematicPlanner::~KinematicPlanner ( void  ) [virtual]

References genericSignalRefs.


Member Function Documentation

void dynamicgraph::sot::tools::KinematicPlanner::blending ( )
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 ( )
dynamicgraph::sot::tools::KinematicPlanner::DYNAMIC_GRAPH_ENTITY_DECL ( )
void dynamicgraph::sot::tools::KinematicPlanner::goalAdaption ( dynamicgraph::Vector &  goals,
const std::string &  dir 
)
void dynamicgraph::sot::tools::KinematicPlanner::loadSourceDelays ( const std::string &  dir)
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().

template<typename Derived >
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 
)
void dynamicgraph::sot::tools::KinematicPlanner::smoothEnds ( Eigen::Ref< Eigen::ArrayXd >  tr)

Referenced by blending().


Member Data Documentation

std::list< dynamicgraph::SignalBase<int>* > dynamicgraph::sot::tools::KinematicPlanner::genericSignalRefs

Referenced by ~KinematicPlanner().