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 ( )
virtual GaussianKernelJumpPropagator::~GaussianKernelJumpPropagator ( )
virtual

Member Function Documentation

double GaussianKernelJumpPropagator::getMaxDuration ( )
double GaussianKernelJumpPropagator::getProgress ( )
void GaussianKernelJumpPropagator::incrementTime ( )
private
bool GaussianKernelJumpPropagator::initialize ( double  dt)
bool GaussianKernelJumpPropagator::inVelocityMode ( )
virtual bool GaussianKernelJumpPropagator::loadGaussianKernel ( TiXmlElement *  pElem,
dmp::GaussianKernel desiredTrajectory 
)
protectedvirtual
virtual bool GaussianKernelJumpPropagator::loadMovement ( const TiXmlHandle &  hTrajectory)
protectedvirtual
virtual bool GaussianKernelJumpPropagator::loadThetas ( const TiXmlHandle &  hThetas)
protectedvirtual
virtual bool GaussianKernelJumpPropagator::loadTrajectory ( const TiXmlHandle &  hJump)
virtual
Eigen::VectorXd GaussianKernelJumpPropagator::predict ( )
void GaussianKernelJumpPropagator::resetTime ( )
private

Member Data Documentation

double GaussianKernelJumpPropagator::currentTime_
private
std::vector<dmp::GaussianKernel> GaussianKernelJumpPropagator::desiredTrajectories_
protected
double GaussianKernelJumpPropagator::maxDuration_
private
Eigen::VectorXd GaussianKernelJumpPropagator::thetas_
protected
double GaussianKernelJumpPropagator::timeStep_
private
std::vector<double> GaussianKernelJumpPropagator::values_
private
bool GaussianKernelJumpPropagator::velocityMode_
private

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