00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2012, Scott Niekum 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Robert Bosch nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 *********************************************************************/ 00036 00041 #ifndef DMP_H_ 00042 #define DMP_H_ 00043 00044 #include "ros/ros.h" 00045 #include "dmp/LearnDMPFromDemo.h" 00046 #include "dmp/GetDMPPlan.h" 00047 #include "dmp/SetActiveDMP.h" 00048 #include "dmp/radial_approx.h" 00049 #include "dmp/fourier_approx.h" 00050 #include <math.h> 00051 00052 namespace dmp{ 00053 00054 double calcPhase(const double curr_time, const double tau); 00055 00056 void learnFromDemo(const DMPTraj &demo, 00057 const std::vector<double> &k_gains, 00058 const std::vector<double> &d_gains, 00059 const int &num_bases, 00060 std::vector<DMPData> &dmp_list); 00061 00062 void generatePlan(const std::vector<DMPData> &dmp_list, 00063 const std::vector<double> &x_0, 00064 const std::vector<double> &x_dot_0, 00065 const double &t_0, 00066 const std::vector<double> &goal, 00067 const std::vector<double> &goal_thresh, 00068 const double &seg_length, 00069 const double &tau, 00070 const double &total_dt, 00071 const int &integrate_iter, 00072 DMPTraj &plan, 00073 uint8_t &at_goal); 00074 00075 } 00076 #endif /* DMP_H_ */