LocalGuidance
A library that generates velocity references to follow a path.
dmp::DmpParameters Class Reference

#include <DmpParameters.hpp>

Public Member Functions

 DmpParameters ()
 
 ~DmpParameters ()
 
bool initialize (const double sampling_frequency, const double teaching_duration, const double execution_duration, const double can_sys_cutoff, const double alpha_z, const double beta_z)
 
void print ()
 
std::string getInfoString ()
 

Private Attributes

bool is_learned_
 
bool is_setup_
 
bool is_start_set_
 
int num_transformation_systems_
 
double tau_
 
double initial_tau_
 
double delta_t_
 
double initial_delta_t_
 
std::string library_directory_name_
 
double teaching_duration_
 
double execution_duration_
 
double can_sys_cutoff_
 
double alpha_x_
 
double alpha_z_
 
double beta_z_
 
int sample_index_
 Number of the current sample. More...
 
int default_sampling_frequency_
 Internal sampling frequency of the DMP. More...
 

Friends

class DiscreteMovementPrimitive
 

Constructor & Destructor Documentation

dmp::DmpParameters::DmpParameters ( )

Constructor

dmp::DmpParameters::~DmpParameters ( )

Destructor

Member Function Documentation

std::string dmp::DmpParameters::getInfoString ( )
bool dmp::DmpParameters::initialize ( const double  sampling_frequency,
const double  teaching_duration,
const double  execution_duration,
const double  can_sys_cutoff,
const double  alpha_z,
const double  beta_z 
)
Returns
void dmp::DmpParameters::print ( )

Friends And Related Function Documentation

friend class DiscreteMovementPrimitive
friend

Member Data Documentation

double dmp::DmpParameters::alpha_x_
private

time constant of the canonical system (defined by can_sys_cutoff_)

double dmp::DmpParameters::alpha_z_
private

time constant of the transformation systems

double dmp::DmpParameters::beta_z_
private
double dmp::DmpParameters::can_sys_cutoff_
private

Remaining value of canonical system at end time (time = tau)

int dmp::DmpParameters::default_sampling_frequency_
private

Internal sampling frequency of the DMP.

double dmp::DmpParameters::delta_t_
private

Time step of the integration

double dmp::DmpParameters::execution_duration_
private
double dmp::DmpParameters::initial_delta_t_
private
double dmp::DmpParameters::initial_tau_
private
bool dmp::DmpParameters::is_learned_
private

Indicates whether the DMP has been learned, i.e. the parameters of the DMP has been computed/set

bool dmp::DmpParameters::is_setup_
private

Indicates whether the DMP is setup, i.e. the start, goal, and duration has been set

bool dmp::DmpParameters::is_start_set_
private

Indicates whether the start of the DMP has been set. This flag is used to update the start position of successive DMPs, when the start position cannot be determined beforehand.

std::string dmp::DmpParameters::library_directory_name_
private
int dmp::DmpParameters::num_transformation_systems_
private

Number of transformation systems (dimensions) used in the DMP

int dmp::DmpParameters::sample_index_
private

Number of the current sample.

double dmp::DmpParameters::tau_
private

Timing parameters used during learning and integrating the system. Tau is the length of the trajectory

double dmp::DmpParameters::teaching_duration_
private

Default durations are important to find values for alpha_z to obtain desired behavior


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