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

#include <TransformationSystem.hpp>

Public Member Functions

 TransformationSystem (DiscreteMovementPrimitive *dmpParent)
 
 ~TransformationSystem ()
 
bool initialize (const int num_rfs, const double activation, const bool exponentially_spaced, const double can_sys_cutoff)
 
void print ()
 
std::string getInfoString ()
 

Private Member Functions

void reset ()
 
void setState (const double y, const double z)
 
double getState () const
 
void setStart (const double y0)
 
void setGoal (const double goal)
 
double getGoal () const
 
void setInitialStart (const double initial_y0)
 
void setInitialGoal (const double initial_goal)
 
void resetMSE ()
 
bool getMSE (double &mse)
 
bool getNormalizedMSE (double &normalized_mse)
 
void computeMSE ()
 

Private Attributes

DiscreteMovementPrimitivedmpParent_
 
bool initialized_
 
int trans_id_
 
int version_id_
 
double z_
 
double zd_
 
double y_
 
double yd_
 
double ydd_
 
double t_
 
double td_
 
double tdd_
 
double y0_
 
double initial_y0_
 
double goal_
 
double initial_goal_
 
double f_
 
double ft_
 
double mse_
 
double mean_ft_
 
unsigned int num_mse_data_points_
 
std::vector< double > trajectory_target_
 
GaussianKernelgaussianKernelModel_
 

Friends

class DiscreteMovementPrimitive
 
class GaussianKernel
 

Constructor & Destructor Documentation

◆ TransformationSystem()

dmp::TransformationSystem::TransformationSystem ( DiscreteMovementPrimitive dmpParent)

◆ ~TransformationSystem()

dmp::TransformationSystem::~TransformationSystem ( )

Member Function Documentation

◆ computeMSE()

void dmp::TransformationSystem::computeMSE ( )
inlineprivate

◆ getGoal()

double dmp::TransformationSystem::getGoal ( ) const
inlineprivate

◆ getInfoString()

std::string dmp::TransformationSystem::getInfoString ( )
Returns

◆ getMSE()

bool dmp::TransformationSystem::getMSE ( double &  mse)
inlineprivate

◆ getNormalizedMSE()

bool dmp::TransformationSystem::getNormalizedMSE ( double &  normalized_mse)
inlineprivate

◆ getState()

double dmp::TransformationSystem::getState ( ) const
inlineprivate

◆ initialize()

bool dmp::TransformationSystem::initialize ( const int  num_rfs,
const double  activation,
const bool  exponentially_spaced,
const double  can_sys_cutoff 
)
Parameters
index
directory_name
lwr_params
Returns

◆ print()

void dmp::TransformationSystem::print ( )

◆ reset()

void dmp::TransformationSystem::reset ( )
inlineprivate

◆ resetMSE()

void dmp::TransformationSystem::resetMSE ( )
inlineprivate

◆ setGoal()

void dmp::TransformationSystem::setGoal ( const double  goal)
inlineprivate

◆ setInitialGoal()

void dmp::TransformationSystem::setInitialGoal ( const double  initial_goal)
inlineprivate

◆ setInitialStart()

void dmp::TransformationSystem::setInitialStart ( const double  initial_y0)
inlineprivate

◆ setStart()

void dmp::TransformationSystem::setStart ( const double  y0)
inlineprivate

◆ setState()

void dmp::TransformationSystem::setState ( const double  y,
const double  z 
)
inlineprivate

Friends And Related Function Documentation

◆ DiscreteMovementPrimitive

friend class DiscreteMovementPrimitive
friend

◆ GaussianKernel

friend class GaussianKernel
friend

Member Data Documentation

◆ dmpParent_

DiscreteMovementPrimitive* dmp::TransformationSystem::dmpParent_
private

◆ f_

double dmp::TransformationSystem::f_
private

the current values of the nonlinear function

◆ ft_

double dmp::TransformationSystem::ft_
private

◆ gaussianKernelModel_

GaussianKernel* dmp::TransformationSystem::gaussianKernelModel_
private

gaussian kernel model used to approximate the nonlinear function

◆ goal_

double dmp::TransformationSystem::goal_
private

the goal state

◆ initial_goal_

double dmp::TransformationSystem::initial_goal_
private

◆ initial_y0_

double dmp::TransformationSystem::initial_y0_
private

◆ initialized_

bool dmp::TransformationSystem::initialized_
private

flag that indicates whether the system is initialized

◆ mean_ft_

double dmp::TransformationSystem::mean_ft_
private

◆ mse_

double dmp::TransformationSystem::mse_
private

internal variables that are used to compute the normalized mean squared error during learning

◆ num_mse_data_points_

unsigned int dmp::TransformationSystem::num_mse_data_points_
private

◆ t_

double dmp::TransformationSystem::t_
private

the targets used during supervised learning

◆ td_

double dmp::TransformationSystem::td_
private

◆ tdd_

double dmp::TransformationSystem::tdd_
private

◆ trajectory_target_

std::vector<double> dmp::TransformationSystem::trajectory_target_
private

internal variable that is used to store the target function for Gaussian kernel model

◆ trans_id_

int dmp::TransformationSystem::trans_id_
private

the id of the transformation system

◆ version_id_

int dmp::TransformationSystem::version_id_
private

determines which DMP version is used. (not used yet)

◆ y0_

double dmp::TransformationSystem::y0_
private

the start state

◆ y_

double dmp::TransformationSystem::y_
private

external states

◆ yd_

double dmp::TransformationSystem::yd_
private

◆ ydd_

double dmp::TransformationSystem::ydd_
private

◆ z_

double dmp::TransformationSystem::z_
private

internal states

◆ zd_

double dmp::TransformationSystem::zd_
private

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