#include <kinematic-planner.hh>
Inheritance diagram for dynamicgraph::sot::tools::KinematicPlanner:
Public Types | |
| typedef int | Dummy |
| typedef std::vector< Eigen::ArrayXd, Eigen::aligned_allocator< Eigen::ArrayXd > > | stdVectorofArrayXd |
| typedef std::vector< Eigen::ArrayXXd, Eigen::aligned_allocator< Eigen::ArrayXXd > > | stdVectorofArrayXXd |
 Public Types inherited from dynamicgraph::Entity | |
| typedef std::map< const std::string, command::Command * > | CommandMap_t |
| typedef std::map< std::string, SignalBase< sigtime_t > * > | SignalMap |
Public Member Functions | |
| void | blending () |
| void | bSplineInterpolate (Eigen::ArrayXXd &tr, int factor) |
| dynamicgraph::Vector | createSubGoals (double D, double P) |
| void | delaySources () |
| DYNAMIC_GRAPH_ENTITY_DECL () | |
| void | goalAdaption (dynamicgraph::Vector &goals, const std::string &) |
| KinematicPlanner (const std::string &name) | |
| void | loadSourceDelays (const std::string &dir) |
| void | loadTrainingParams (const std::string &dir, dynamicgraph::Matrix &q, dynamicgraph::Matrix &beta3, Eigen::ArrayXd &mwwn, double &sigma2, int &N, int &K) |
| template<typename Derived > | |
| void | read2DArray (std::string &fileName, Eigen::DenseBase< Derived > &outArr) |
| int & | runKinematicPlanner (int &dummy, int time) |
| void | savitzkyGolayFilter (Eigen::Ref< Eigen::ArrayXXd > allJointTraj, int polyOrder, int frameSize) |
| void | setParams (const double &_distanceToDrawer, const double &_objectPositionInDrawer, const std::string &dir) |
| void | smoothEnds (Eigen::Ref< Eigen::ArrayXd > tr) |
| virtual | ~KinematicPlanner (void) |
| Public Member Functions inherited from dynamicgraph::Entity | |
| virtual void | display (std::ostream &os) const |
| std::ostream & | displaySignalList (std::ostream &os) const |
| Entity (const std::string &name) | |
| virtual const std::string & | getClassName () const |
| const std::string & | getCommandList () const |
| virtual std::string | getDocString () const |
| LoggerVerbosity | getLoggerVerbosityLevel () |
| LoggerVerbosity | getLoggerVerbosityLevel () |
| const std::string & | getName () const |
| command::Command * | getNewStyleCommand (const std::string &cmdName) |
| CommandMap_t | getNewStyleCommandMap () |
| SignalBase< sigtime_t > & | getSignal (const std::string &signalName) |
| const SignalBase< sigtime_t > & | getSignal (const std::string &signalName) const |
| SignalMap | getSignalMap () const |
| double | getStreamPrintPeriod () |
| double | getStreamPrintPeriod () |
| double | getTimeSample () |
| double | getTimeSample () |
| bool | hasSignal (const std::string &signame) const |
| Logger & | logger () |
| Logger & | logger () |
| const Logger & | logger () const |
| const Logger & | logger () const |
| void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="") |
| void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="") |
| void | setLoggerVerbosityLevel (LoggerVerbosity lv) |
| void | setLoggerVerbosityLevel (LoggerVerbosity lv) |
| bool | setStreamPrintPeriod (double t) |
| bool | setStreamPrintPeriod (double t) |
| bool | setTimeSample (double t) |
| bool | setTimeSample (double t) |
| virtual SignalBase< sigtime_t > * | test () |
| virtual void | test2 (SignalBase< sigtime_t > *) |
| virtual std::ostream & | writeCompletionList (std::ostream &os) const |
| virtual std::ostream & | writeGraph (std::ostream &os) const |
| virtual | ~Entity () |
Public Attributes | |
| std::list< dynamicgraph::SignalBase< sigtime_t > * > | genericSignalRefs |
| Eigen::ArrayXXd | mJointAngle |
| int | nGaitCycles |
| int | nJoints |
| Eigen::ArrayXd | npSource |
| int | nSources1 |
| int | nSources2 |
| int | nTimeSteps |
| bool | parametersSet |
| Eigen::ArrayXXd | pDelay1 |
| Eigen::ArrayXXd | pDelay2 |
| Eigen::ArrayXXd | pSource1 |
| Eigen::ArrayXXd | pSource2 |
| stdVectorofArrayXXd | pSourceDelayed1 |
| stdVectorofArrayXXd | pSourceDelayed2 |
| Eigen::ArrayXXd | wNonPeriodic |
| stdVectorofArrayXXd | wPeriodic1 |
| stdVectorofArrayXXd | wPeriodic2 |
Additional Inherited Members | |
| Protected Member Functions inherited from dynamicgraph::Entity | |
| void | addCommand (const std::string &name, command::Command *command) |
| void | entityDeregistration () |
| void | entityRegistration () |
| void | signalDeregistration (const std::string &name) |
| void | signalRegistration (const SignalArray< sigtime_t > &signals) |
| Protected Attributes inherited from dynamicgraph::Entity | |
| CommandMap_t | commandMap |
| Logger | logger_ |
| std::string | name |
| SignalMap | signalMap |
Detailed Description
Definition at line 41 of file kinematic-planner.hh.
Member Typedef Documentation
◆ Dummy
Definition at line 52 of file kinematic-planner.hh.
◆ stdVectorofArrayXd
| typedef std::vector<Eigen::ArrayXd, Eigen::aligned_allocator<Eigen::ArrayXd> > dynamicgraph::sot::tools::KinematicPlanner::stdVectorofArrayXd |
Definition at line 45 of file kinematic-planner.hh.
◆ stdVectorofArrayXXd
| typedef std::vector<Eigen::ArrayXXd, Eigen::aligned_allocator<Eigen::ArrayXXd> > dynamicgraph::sot::tools::KinematicPlanner::stdVectorofArrayXXd |
Definition at line 49 of file kinematic-planner.hh.
Constructor & Destructor Documentation
◆ KinematicPlanner()
| dynamicgraph::sot::tools::KinematicPlanner::KinematicPlanner | ( | const std::string & | name | ) |
Definition at line 18 of file kinematic-planner.cc.
◆ ~KinematicPlanner()
|
virtual |
Definition at line 81 of file kinematic-planner.cc.
Member Function Documentation
◆ blending()
| void dynamicgraph::sot::tools::KinematicPlanner::blending | ( | ) |
Definition at line 357 of file kinematic-planner.cc.
◆ bSplineInterpolate()
| void dynamicgraph::sot::tools::KinematicPlanner::bSplineInterpolate | ( | Eigen::ArrayXXd & | tr, |
| int | factor | ||
| ) |
Definition at line 566 of file kinematic-planner.cc.
◆ createSubGoals()
| dynamicgraph::Vector dynamicgraph::sot::tools::KinematicPlanner::createSubGoals | ( | double | D, |
| double | P | ||
| ) |
Definition at line 802 of file kinematic-planner.cc.
◆ delaySources()
| void dynamicgraph::sot::tools::KinematicPlanner::delaySources | ( | ) |
Definition at line 291 of file kinematic-planner.cc.
◆ DYNAMIC_GRAPH_ENTITY_DECL()
| dynamicgraph::sot::tools::KinematicPlanner::DYNAMIC_GRAPH_ENTITY_DECL | ( | ) |
◆ goalAdaption()
| void dynamicgraph::sot::tools::KinematicPlanner::goalAdaption | ( | dynamicgraph::Vector & | goals, |
| const std::string & | dir | ||
| ) |
Definition at line 590 of file kinematic-planner.cc.
◆ loadSourceDelays()
| void dynamicgraph::sot::tools::KinematicPlanner::loadSourceDelays | ( | const std::string & | dir | ) |
Definition at line 210 of file kinematic-planner.cc.
◆ loadTrainingParams()
| void dynamicgraph::sot::tools::KinematicPlanner::loadTrainingParams | ( | const std::string & | dir, |
| dynamicgraph::Matrix & | q, | ||
| dynamicgraph::Matrix & | beta3, | ||
| Eigen::ArrayXd & | mwwn, | ||
| double & | sigma2, | ||
| int & | N, | ||
| int & | K | ||
| ) |
Definition at line 177 of file kinematic-planner.cc.
◆ read2DArray()
template<typename Derived >
| void dynamicgraph::sot::tools::KinematicPlanner::read2DArray | ( | std::string & | fileName, |
| Eigen::DenseBase< Derived > & | outArr | ||
| ) |
Definition at line 103 of file kinematic-planner.cc.
◆ runKinematicPlanner()
| int & dynamicgraph::sot::tools::KinematicPlanner::runKinematicPlanner | ( | int & | dummy, |
| int | time | ||
| ) |
Definition at line 811 of file kinematic-planner.cc.
◆ savitzkyGolayFilter()
| void dynamicgraph::sot::tools::KinematicPlanner::savitzkyGolayFilter | ( | Eigen::Ref< Eigen::ArrayXXd > | allJointTraj, |
| int | polyOrder, | ||
| int | frameSize | ||
| ) |
Definition at line 746 of file kinematic-planner.cc.
◆ setParams()
| void dynamicgraph::sot::tools::KinematicPlanner::setParams | ( | const double & | _distanceToDrawer, |
| const double & | _objectPositionInDrawer, | ||
| const std::string & | dir | ||
| ) |
Definition at line 125 of file kinematic-planner.cc.
◆ smoothEnds()
| void dynamicgraph::sot::tools::KinematicPlanner::smoothEnds | ( | Eigen::Ref< Eigen::ArrayXd > | tr | ) |
Definition at line 548 of file kinematic-planner.cc.
Member Data Documentation
◆ genericSignalRefs
| std::list<dynamicgraph::SignalBase<sigtime_t>*> dynamicgraph::sot::tools::KinematicPlanner::genericSignalRefs |
Definition at line 98 of file kinematic-planner.hh.
◆ mJointAngle
| Eigen::ArrayXXd dynamicgraph::sot::tools::KinematicPlanner::mJointAngle |
Definition at line 88 of file kinematic-planner.hh.
◆ nGaitCycles
| int dynamicgraph::sot::tools::KinematicPlanner::nGaitCycles |
Definition at line 93 of file kinematic-planner.hh.
◆ nJoints
| int dynamicgraph::sot::tools::KinematicPlanner::nJoints |
Definition at line 92 of file kinematic-planner.hh.
◆ npSource
| Eigen::ArrayXd dynamicgraph::sot::tools::KinematicPlanner::npSource |
Definition at line 70 of file kinematic-planner.hh.
◆ nSources1
| int dynamicgraph::sot::tools::KinematicPlanner::nSources1 |
Definition at line 95 of file kinematic-planner.hh.
◆ nSources2
| int dynamicgraph::sot::tools::KinematicPlanner::nSources2 |
Definition at line 96 of file kinematic-planner.hh.
◆ nTimeSteps
| int dynamicgraph::sot::tools::KinematicPlanner::nTimeSteps |
Definition at line 94 of file kinematic-planner.hh.
◆ parametersSet
| bool dynamicgraph::sot::tools::KinematicPlanner::parametersSet |
Definition at line 120 of file kinematic-planner.hh.
◆ pDelay1
| Eigen::ArrayXXd dynamicgraph::sot::tools::KinematicPlanner::pDelay1 |
Definition at line 77 of file kinematic-planner.hh.
◆ pDelay2
| Eigen::ArrayXXd dynamicgraph::sot::tools::KinematicPlanner::pDelay2 |
Definition at line 78 of file kinematic-planner.hh.
◆ pSource1
| Eigen::ArrayXXd dynamicgraph::sot::tools::KinematicPlanner::pSource1 |
Definition at line 71 of file kinematic-planner.hh.
◆ pSource2
| Eigen::ArrayXXd dynamicgraph::sot::tools::KinematicPlanner::pSource2 |
Definition at line 72 of file kinematic-planner.hh.
◆ pSourceDelayed1
| stdVectorofArrayXXd dynamicgraph::sot::tools::KinematicPlanner::pSourceDelayed1 |
Definition at line 74 of file kinematic-planner.hh.
◆ pSourceDelayed2
| stdVectorofArrayXXd dynamicgraph::sot::tools::KinematicPlanner::pSourceDelayed2 |
Definition at line 75 of file kinematic-planner.hh.
◆ wNonPeriodic
| Eigen::ArrayXXd dynamicgraph::sot::tools::KinematicPlanner::wNonPeriodic |
Definition at line 81 of file kinematic-planner.hh.
◆ wPeriodic1
| stdVectorofArrayXXd dynamicgraph::sot::tools::KinematicPlanner::wPeriodic1 |
Definition at line 84 of file kinematic-planner.hh.
◆ wPeriodic2
| stdVectorofArrayXXd dynamicgraph::sot::tools::KinematicPlanner::wPeriodic2 |
Definition at line 85 of file kinematic-planner.hh.
The documentation for this class was generated from the following files: