#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().
dynamicgraph::sot::tools::KinematicPlanner::~KinematicPlanner | ( | void | ) | [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().
Referenced by blending(), bSplineInterpolate(), and setParams().
Referenced by blending(), bSplineInterpolate(), delaySources(), goalAdaption(), loadSourceDelays(), and setParams().
Eigen::ArrayXd dynamicgraph::sot::tools::KinematicPlanner::npSource |
Referenced by blending(), loadSourceDelays(), and setParams().
Referenced by blending(), delaySources(), goalAdaption(), loadSourceDelays(), and setParams().
Referenced by blending(), delaySources(), goalAdaption(), loadSourceDelays(), and setParams().
Referenced by blending(), bSplineInterpolate(), delaySources(), loadSourceDelays(), and setParams().
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().
Referenced by blending(), delaySources(), and setParams().
Referenced by blending(), delaySources(), and setParams().
Eigen::ArrayXXd dynamicgraph::sot::tools::KinematicPlanner::wNonPeriodic |
Referenced by blending(), goalAdaption(), and setParams().
Referenced by blending(), goalAdaption(), and setParams().