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	LinearApprox
	Class for function approximation by recording points and linearly interpolating. More...
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 std::pair< double, double >	pt_pair
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)
bool	sort_pt_pair (const pt_pair &left, const pt_pair &right)
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 62 of file DMPData.h.

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

Definition at line 65 of file DMPData.h.

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

Definition at line 64 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 121 of file GetDMPPlan.h.

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

Definition at line 124 of file GetDMPPlan.h.

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

Definition at line 123 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 97 of file LearnDMPFromDemo.h.

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

Definition at line 100 of file LearnDMPFromDemo.h.

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

Definition at line 99 of file LearnDMPFromDemo.h.

typedef std::pair<double, double> dmp::pt_pair

Definition at line 49 of file linear_approx.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 76 of file SetActiveDMP.h.

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

Definition at line 79 of file SetActiveDMP.h.

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

Definition at line 78 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 160 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 69 of file DMPData.h.

bool dmp::sort_pt_pair	(	const pt_pair &	left,
		const pt_pair &	right
	)

Definition at line 49 of file linear_approx.cpp.

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