#include "ros/ros.h"#include "dmp/LearnDMPFromDemo.h"#include "dmp/GetDMPPlan.h"#include "dmp/SetActiveDMP.h"#include "dmp/radial_approx.h"#include "dmp/fourier_approx.h"#include <math.h>
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Namespaces | |
| namespace | dmp |
Functions | |
| double | dmp::calcPhase (double curr_time, double tau) |
| Calculate an exp-decaying 1 to 0 phase based on time and the time scaling constant tau. | |
| void | dmp::generatePlan (const std::vector< DMPData > &dmp_list, const std::vector< double > &x_0, const std::vector< double > &x_dot_0, const double &t_0, const std::vector< double > &goal, const std::vector< double > &goal_thresh, const double &seg_length, const double &tau, const double &total_dt, const int &integrate_iter, DMPTraj &plan, uint8_t &at_goal) |
| void | dmp::learnFromDemo (const DMPTraj &demo, const std::vector< double > &k_gains, const std::vector< double > &d_gains, const int &num_bases, std::vector< DMPData > &dmp_list) |