Public Member Functions
def	computeBetaPi
def	feedbackControl
def	gaussian_saturate
def	loadRBFController
def	maha
def	squaredDist
def	squaredExponentialKernel
def	squaredExponentialKernelARD
Public Attributes
	beta
	D
	E
	Hyp
	lambdas
	max_U
	N
	sf2s
	X_pi
	Y_pi

Detailed Description

Class to implement an RBF network controller based on PILCO learning for use in control of the robot.

Definition at line 5 of file rbf_control.py.

Member Function Documentation

def tabletop_pushing.rbf_control.RBFController.computeBetaPi ( self )

Compute the RBF network weights in GP form

Definition at line 55 of file rbf_control.py.

def tabletop_pushing.rbf_control.RBFController.feedbackControl	(	self,
		X
	)

Definition at line 10 of file rbf_control.py.

def tabletop_pushing.rbf_control.RBFController.gaussian_saturate	(	self,
		m,
		v,
		i,
		e
	)

Definition at line 105 of file rbf_control.py.

def tabletop_pushing.rbf_control.RBFController.loadRBFController	(	self,
		controller_path
	)

Read controller data from disk that was learned by PILCO

Definition at line 128 of file rbf_control.py.

def tabletop_pushing.rbf_control.RBFController.maha	(	self,
		a,
		b
	)

Definition at line 99 of file rbf_control.py.

def tabletop_pushing.rbf_control.RBFController.squaredDist	(	self,
		x1,
		x2
	)

Get the squared distance between two vectors
TODO: Make this work for full matrices

Definition at line 89 of file rbf_control.py.

def tabletop_pushing.rbf_control.RBFController.squaredExponentialKernel	(	self,
		x,
		c,
		sf2
	)

Squared exponential without the length scale hyperparemeters

Definition at line 83 of file rbf_control.py.

def tabletop_pushing.rbf_control.RBFController.squaredExponentialKernelARD	(	self,
		x,
		c,
		ell,
		sf2
	)

Squared exponential with automatic relavence determination pre-computed parameters 'self.ell_diag'

Definition at line 77 of file rbf_control.py.

Definition at line 57 of file rbf_control.py.

Definition at line 130 of file rbf_control.py.

Definition at line 130 of file rbf_control.py.

Definition at line 130 of file rbf_control.py.

Definition at line 57 of file rbf_control.py.

Definition at line 130 of file rbf_control.py.

Definition at line 130 of file rbf_control.py.

Definition at line 57 of file rbf_control.py.

Definition at line 130 of file rbf_control.py.

Definition at line 130 of file rbf_control.py.

The documentation for this class was generated from the following file: