Namespaces
namespace	msg
namespace	srv
Classes
struct	DMPData_
struct	DMPPoint_
struct	DMPTraj_
class	FourierApprox
	Class for linear function approximation with the univariate Fourier basis. More...
class	FunctionApprox
	Interface for univariate linear function approximation. More...
struct	GetDMPPlan
struct	GetDMPPlanRequest_
struct	GetDMPPlanResponse_
struct	LearnDMPFromDemo
struct	LearnDMPFromDemoRequest_
struct	LearnDMPFromDemoResponse_
class	RadialApprox
	Class for linear function approximation with the univariate Radial basis. More...
struct	SetActiveDMP
struct	SetActiveDMPRequest_
struct	SetActiveDMPResponse_
Typedefs
typedef ::dmp::DMPData_ < std::allocator< void > >	DMPData
typedef boost::shared_ptr < ::dmp::DMPData const >	DMPDataConstPtr
typedef boost::shared_ptr < ::dmp::DMPData >	DMPDataPtr
typedef ::dmp::DMPPoint_ < std::allocator< void > >	DMPPoint
typedef boost::shared_ptr < ::dmp::DMPPoint const >	DMPPointConstPtr
typedef boost::shared_ptr < ::dmp::DMPPoint >	DMPPointPtr
typedef ::dmp::DMPTraj_ < std::allocator< void > >	DMPTraj
typedef boost::shared_ptr < ::dmp::DMPTraj const >	DMPTrajConstPtr
typedef boost::shared_ptr < ::dmp::DMPTraj >	DMPTrajPtr
typedef ::dmp::GetDMPPlanRequest_ < std::allocator< void > >	GetDMPPlanRequest
typedef boost::shared_ptr < ::dmp::GetDMPPlanRequest const >	GetDMPPlanRequestConstPtr
typedef boost::shared_ptr < ::dmp::GetDMPPlanRequest >	GetDMPPlanRequestPtr
typedef ::dmp::GetDMPPlanResponse_ < std::allocator< void > >	GetDMPPlanResponse
typedef boost::shared_ptr < ::dmp::GetDMPPlanResponse const >	GetDMPPlanResponseConstPtr
typedef boost::shared_ptr < ::dmp::GetDMPPlanResponse >	GetDMPPlanResponsePtr
typedef ::dmp::LearnDMPFromDemoRequest_ < std::allocator< void > >	LearnDMPFromDemoRequest
typedef boost::shared_ptr < ::dmp::LearnDMPFromDemoRequest const >	LearnDMPFromDemoRequestConstPtr
typedef boost::shared_ptr < ::dmp::LearnDMPFromDemoRequest >	LearnDMPFromDemoRequestPtr
typedef ::dmp::LearnDMPFromDemoResponse_ < std::allocator< void > >	LearnDMPFromDemoResponse
typedef boost::shared_ptr < ::dmp::LearnDMPFromDemoResponse const >	LearnDMPFromDemoResponseConstPtr
typedef boost::shared_ptr < ::dmp::LearnDMPFromDemoResponse >	LearnDMPFromDemoResponsePtr
typedef ::dmp::SetActiveDMPRequest_ < std::allocator< void > >	SetActiveDMPRequest
typedef boost::shared_ptr < ::dmp::SetActiveDMPRequest const >	SetActiveDMPRequestConstPtr
typedef boost::shared_ptr < ::dmp::SetActiveDMPRequest >	SetActiveDMPRequestPtr
typedef ::dmp::SetActiveDMPResponse_ < std::allocator< void > >	SetActiveDMPResponse
typedef boost::shared_ptr < ::dmp::SetActiveDMPResponse const >	SetActiveDMPResponseConstPtr
typedef boost::shared_ptr < ::dmp::SetActiveDMPResponse >	SetActiveDMPResponsePtr
Functions
double	calcPhase (double curr_time, double tau)
	Calculate an exp-decaying 1 to 0 phase based on time and the time scaling constant tau.
void	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	generatePlan (const vector< DMPData > &dmp_list, const vector< double > &x_0, const vector< double > &x_dot_0, const double &t_0, const vector< double > &goal, const 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)
	Use the current active multi-dim DMP to create a plan starting from x_0 toward a goal.
void	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)
void	learnFromDemo (const DMPTraj &demo, const vector< double > &k_gains, const vector< double > &d_gains, const int &num_bases, vector< DMPData > &dmp_list)
	Given a single demo trajectory, produces a multi-dim DMP.
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::dmp::DMPPoint_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::dmp::DMPTraj_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::dmp::DMPData_< ContainerAllocator > &v)
Variables
double	alpha = -log(0.01)
const double	PI = 3.14159265359

Detailed Description

Author:: Scott Niekum

Typedef Documentation

typedef ::dmp::DMPData_<std::allocator<void> > dmp::DMPData

Definition at line 52 of file DMPData.h.

typedef boost::shared_ptr< ::dmp::DMPData const> dmp::DMPDataConstPtr

Definition at line 55 of file DMPData.h.

typedef boost::shared_ptr< ::dmp::DMPData> dmp::DMPDataPtr

Definition at line 54 of file DMPData.h.

typedef ::dmp::DMPPoint_<std::allocator<void> > dmp::DMPPoint

Definition at line 47 of file DMPPoint.h.

typedef boost::shared_ptr< ::dmp::DMPPoint const> dmp::DMPPointConstPtr

Definition at line 50 of file DMPPoint.h.

typedef boost::shared_ptr< ::dmp::DMPPoint> dmp::DMPPointPtr

Definition at line 49 of file DMPPoint.h.

typedef ::dmp::DMPTraj_<std::allocator<void> > dmp::DMPTraj

Definition at line 48 of file DMPTraj.h.

typedef boost::shared_ptr< ::dmp::DMPTraj const> dmp::DMPTrajConstPtr

Definition at line 51 of file DMPTraj.h.

typedef boost::shared_ptr< ::dmp::DMPTraj> dmp::DMPTrajPtr

Definition at line 50 of file DMPTraj.h.

typedef ::dmp::GetDMPPlanRequest_<std::allocator<void> > dmp::GetDMPPlanRequest

Definition at line 87 of file GetDMPPlan.h.

typedef boost::shared_ptr< ::dmp::GetDMPPlanRequest const> dmp::GetDMPPlanRequestConstPtr

Definition at line 90 of file GetDMPPlan.h.

typedef boost::shared_ptr< ::dmp::GetDMPPlanRequest> dmp::GetDMPPlanRequestPtr

Definition at line 89 of file GetDMPPlan.h.

typedef ::dmp::GetDMPPlanResponse_<std::allocator<void> > dmp::GetDMPPlanResponse

Definition at line 120 of file GetDMPPlan.h.

typedef boost::shared_ptr< ::dmp::GetDMPPlanResponse const> dmp::GetDMPPlanResponseConstPtr

Definition at line 123 of file GetDMPPlan.h.

typedef boost::shared_ptr< ::dmp::GetDMPPlanResponse> dmp::GetDMPPlanResponsePtr

Definition at line 122 of file GetDMPPlan.h.

typedef ::dmp::LearnDMPFromDemoRequest_<std::allocator<void> > dmp::LearnDMPFromDemoRequest

Definition at line 63 of file LearnDMPFromDemo.h.

typedef boost::shared_ptr< ::dmp::LearnDMPFromDemoRequest const> dmp::LearnDMPFromDemoRequestConstPtr

Definition at line 66 of file LearnDMPFromDemo.h.

typedef boost::shared_ptr< ::dmp::LearnDMPFromDemoRequest> dmp::LearnDMPFromDemoRequestPtr

Definition at line 65 of file LearnDMPFromDemo.h.

typedef ::dmp::LearnDMPFromDemoResponse_<std::allocator<void> > dmp::LearnDMPFromDemoResponse

Definition at line 96 of file LearnDMPFromDemo.h.

typedef boost::shared_ptr< ::dmp::LearnDMPFromDemoResponse const> dmp::LearnDMPFromDemoResponseConstPtr

Definition at line 99 of file LearnDMPFromDemo.h.

typedef boost::shared_ptr< ::dmp::LearnDMPFromDemoResponse> dmp::LearnDMPFromDemoResponsePtr

Definition at line 98 of file LearnDMPFromDemo.h.

typedef ::dmp::SetActiveDMPRequest_<std::allocator<void> > dmp::SetActiveDMPRequest

Definition at line 47 of file SetActiveDMP.h.

typedef boost::shared_ptr< ::dmp::SetActiveDMPRequest const> dmp::SetActiveDMPRequestConstPtr

Definition at line 50 of file SetActiveDMP.h.

typedef boost::shared_ptr< ::dmp::SetActiveDMPRequest> dmp::SetActiveDMPRequestPtr

Definition at line 49 of file SetActiveDMP.h.

typedef ::dmp::SetActiveDMPResponse_<std::allocator<void> > dmp::SetActiveDMPResponse

Definition at line 75 of file SetActiveDMP.h.

typedef boost::shared_ptr< ::dmp::SetActiveDMPResponse const> dmp::SetActiveDMPResponseConstPtr

Definition at line 78 of file SetActiveDMP.h.

typedef boost::shared_ptr< ::dmp::SetActiveDMPResponse> dmp::SetActiveDMPResponsePtr

Definition at line 77 of file SetActiveDMP.h.

Function Documentation

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.

Parameters:

[in]	curr_time	The current time in seconds from the start of DMP execution / trajectory
[in]	tau	The DMP time scaling constant

Returns:: A zero to one phase

Definition at line 57 of file dmp.cpp.

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::generatePlan	(	const vector< DMPData > &	dmp_list,
		const vector< double > &	x_0,
		const vector< double > &	x_dot_0,
		const double &	t_0,
		const vector< double > &	goal,
		const 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
	)

Use the current active multi-dim DMP to create a plan starting from x_0 toward a goal.

Parameters:

[in]	dmp_list	An n-dim list of DMPs that are all linked by a single canonical (phase) system
[in]	x_0	The (n-dim) starting state for planning
[in]	x_dot_0	The (n-dim) starting instantaneous change in state for planning
[in]	t_0	The time in seconds at which to begin the planning segment. Should only be nonzero when doing a partial segment plan that does not start at beginning of DMP
[in]	goal	The (n-dim) goal point for planning
[in]	goal_thresh	Planning will continue until system is within the specified threshold of goal in each dimension
[in]	seg_length	The length of the requested plan segment in seconds. Set to -1 if plan until goal is desired.
[in]	tau	The time scaling constant (in this implementation, it is the desired length of the TOTAL (not just this segment) DMP execution in seconds)
[in]	total_dt	The desired time resolution of the plan
[in]	integrate_iter	The number of loops used when numerically integrating accelerations
[out]	plan	An n-dim plan starting from x_0
[out]	at_goal	True if the final time is greater than tau AND the planned position is within goal_thresh of the goal

Definition at line 156 of file dmp.cpp.

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
	)

void dmp::learnFromDemo	(	const DMPTraj &	demo,
		const vector< double > &	k_gains,
		const vector< double > &	d_gains,
		const int &	num_bases,
		vector< DMPData > &	dmp_list
	)

Given a single demo trajectory, produces a multi-dim DMP.

Parameters:

[in]	demo	An n-dim demonstration trajectory
[in]	k_gains	A proportional gain for each demo dimension
[in]	d_gains	A vector of differential gains for each demo dimension
[in]	num_bases	The number of basis functions to use for the fxn approx (i.e. the order of the Fourier series)
[out]	dmp_list	An n-dim list of DMPs that are all linked by a single canonical (phase) system

Definition at line 71 of file dmp.cpp.

template<typename ContainerAllocator >

std::ostream& dmp::operator<<	(	std::ostream &	s,
		const ::dmp::DMPPoint_< ContainerAllocator > &	v
	)

Definition at line 54 of file DMPPoint.h.

template<typename ContainerAllocator >

std::ostream& dmp::operator<<	(	std::ostream &	s,
		const ::dmp::DMPTraj_< ContainerAllocator > &	v
	)

Definition at line 55 of file DMPTraj.h.

template<typename ContainerAllocator >

std::ostream& dmp::operator<<	(	std::ostream &	s,
		const ::dmp::DMPData_< ContainerAllocator > &	v
	)

Definition at line 59 of file DMPData.h.

Variable Documentation

double dmp::alpha = -log(0.01)

Definition at line 49 of file dmp.cpp.

const double dmp::PI = 3.14159265359

Definition at line 52 of file fourier_approx.h.

Namespaces

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

Function Documentation

Variable Documentation