LocalGuidance
A library that generates velocity references to follow a path.
GaussianKernelJumpPropagator Class Reference

#include <GaussianKernelJumpPropagator.hpp>

Public Member Functions

 GaussianKernelJumpPropagator ()
 
virtual ~GaussianKernelJumpPropagator ()
 
virtual bool loadTrajectory (const TiXmlHandle &hJump)
 
bool inVelocityMode ()
 
bool initialize (double dt)
 
double getMaxDuration ()
 
double getProgress ()
 
Eigen::VectorXd predict ()
 

Protected Member Functions

virtual bool loadGaussianKernel (TiXmlElement *pElem, dmp::GaussianKernel *desiredTrajectory)
 
virtual bool loadMovement (const TiXmlHandle &hTrajectory)
 
virtual bool loadThetas (const TiXmlHandle &hThetas)
 

Protected Attributes

Eigen::VectorXd thetas_
 
std::vector< dmp::GaussianKerneldesiredTrajectories_
 

Private Member Functions

void resetTime ()
 
void incrementTime ()
 

Private Attributes

std::vector< double > values_
 
double timeStep_
 
double currentTime_
 
double maxDuration_
 
bool velocityMode_
 

Constructor & Destructor Documentation

◆ GaussianKernelJumpPropagator()

GaussianKernelJumpPropagator::GaussianKernelJumpPropagator ( )

◆ ~GaussianKernelJumpPropagator()

virtual GaussianKernelJumpPropagator::~GaussianKernelJumpPropagator ( )
virtual

Member Function Documentation

◆ getMaxDuration()

double GaussianKernelJumpPropagator::getMaxDuration ( )

◆ getProgress()

double GaussianKernelJumpPropagator::getProgress ( )

◆ incrementTime()

void GaussianKernelJumpPropagator::incrementTime ( )
private

◆ initialize()

bool GaussianKernelJumpPropagator::initialize ( double  dt)

◆ inVelocityMode()

bool GaussianKernelJumpPropagator::inVelocityMode ( )

◆ loadGaussianKernel()

virtual bool GaussianKernelJumpPropagator::loadGaussianKernel ( TiXmlElement *  pElem,
dmp::GaussianKernel desiredTrajectory 
)
protectedvirtual

◆ loadMovement()

virtual bool GaussianKernelJumpPropagator::loadMovement ( const TiXmlHandle &  hTrajectory)
protectedvirtual

◆ loadThetas()

virtual bool GaussianKernelJumpPropagator::loadThetas ( const TiXmlHandle &  hThetas)
protectedvirtual

◆ loadTrajectory()

virtual bool GaussianKernelJumpPropagator::loadTrajectory ( const TiXmlHandle &  hJump)
virtual

◆ predict()

Eigen::VectorXd GaussianKernelJumpPropagator::predict ( )

◆ resetTime()

void GaussianKernelJumpPropagator::resetTime ( )
private

Member Data Documentation

◆ currentTime_

double GaussianKernelJumpPropagator::currentTime_
private

◆ desiredTrajectories_

std::vector<dmp::GaussianKernel> GaussianKernelJumpPropagator::desiredTrajectories_
protected

◆ maxDuration_

double GaussianKernelJumpPropagator::maxDuration_
private

◆ thetas_

Eigen::VectorXd GaussianKernelJumpPropagator::thetas_
protected

◆ timeStep_

double GaussianKernelJumpPropagator::timeStep_
private

◆ values_

std::vector<double> GaussianKernelJumpPropagator::values_
private

◆ velocityMode_

bool GaussianKernelJumpPropagator::velocityMode_
private

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