dynamicgraph::sot::tools::KinematicPlanner Class Reference

#include <kinematic-planner.hh>

Inheritance diagram for dynamicgraph::sot::tools::KinematicPlanner:

Collaboration diagram for dynamicgraph::sot::tools::KinematicPlanner:

Public Types
typedef std::vector< Eigen::ArrayXd, Eigen::aligned_allocator< Eigen::ArrayXd > >	stdVectorofArrayXd
typedef std::vector< Eigen::ArrayXXd, Eigen::aligned_allocator< Eigen::ArrayXXd > >	stdVectorofArrayXXd
typedef int	Dummy

Public Member Functions
	DYNAMIC_GRAPH_ENTITY_DECL ()
	KinematicPlanner (const std::string &name)
virtual	~KinematicPlanner (void)
template<typename Derived >
void	read2DArray (std::string &fileName, Eigen::DenseBase< Derived > &outArr)
void	setParams (const double &_distanceToDrawer, const double &_objectPositionInDrawer, const std::string &dir)
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)
dynamicgraph::Vector	createSubGoals (double D, double P)
void	delaySources ()
void	blending ()
void	smoothEnds (Eigen::Ref< Eigen::ArrayXd > tr)
void	bSplineInterpolate (Eigen::ArrayXXd &tr, int factor)
int &	runKinematicPlanner (int &dummy, int time)
void	goalAdaption (dynamicgraph::Vector &goals, const std::string &)
void	savitzkyGolayFilter (Eigen::Ref< Eigen::ArrayXXd > allJointTraj, int polyOrder, int frameSize)

Public Attributes
Eigen::ArrayXd	npSource
Eigen::ArrayXXd	pSource1
Eigen::ArrayXXd	pSource2
stdVectorofArrayXXd	pSourceDelayed1
stdVectorofArrayXXd	pSourceDelayed2
Eigen::ArrayXXd	pDelay1
Eigen::ArrayXXd	pDelay2
Eigen::ArrayXXd	wNonPeriodic
stdVectorofArrayXXd	wPeriodic1
stdVectorofArrayXXd	wPeriodic2
Eigen::ArrayXXd	mJointAngle
int	nJoints
int	nGaitCycles
int	nTimeSteps
int	nSources1
int	nSources2
std::list< dynamicgraph::SignalBase< int > * >	genericSignalRefs
bool	parametersSet

Member Typedef Documentation

typedef int dynamicgraph::sot::tools::KinematicPlanner::Dummy

typedef std::vector<Eigen::ArrayXd,Eigen::aligned_allocator<Eigen::ArrayXd> > dynamicgraph::sot::tools::KinematicPlanner::stdVectorofArrayXd

typedef std::vector<Eigen::ArrayXXd,Eigen::aligned_allocator<Eigen::ArrayXXd> > dynamicgraph::sot::tools::KinematicPlanner::stdVectorofArrayXXd

Constructor & Destructor Documentation

dynamicgraph::sot::tools::KinematicPlanner::KinematicPlanner

(

const std::string &

name

)

References parametersSet, runKinematicPlanner(), and setParams().

dynamicgraph::sot::tools::KinematicPlanner::~KinematicPlanner ( void  )

virtual

References genericSignalRefs.

Member Function Documentation

void dynamicgraph::sot::tools::KinematicPlanner::blending

(

)

References mJointAngle, nGaitCycles, nJoints, npSource, nSources1, nSources2, nTimeSteps, pSourceDelayed1, pSourceDelayed2, savitzkyGolayFilter(), smoothEnds(), wNonPeriodic, wPeriodic1, and wPeriodic2.

Referenced by runKinematicPlanner().

void dynamicgraph::sot::tools::KinematicPlanner::bSplineInterpolate	(	Eigen::ArrayXXd &	tr,
		int	factor
	)

References nGaitCycles, nJoints, and nTimeSteps.

dynamicgraph::Vector dynamicgraph::sot::tools::KinematicPlanner::createSubGoals	(	double	D,
		double	P
	)

Referenced by setParams().

void dynamicgraph::sot::tools::KinematicPlanner::delaySources

(

)

References nJoints, nSources1, nSources2, nTimeSteps, pDelay1, pDelay2, pSource1, pSource2, pSourceDelayed1, and pSourceDelayed2.

Referenced by setParams().

dynamicgraph::sot::tools::KinematicPlanner::DYNAMIC_GRAPH_ENTITY_DECL

(

)

void dynamicgraph::sot::tools::KinematicPlanner::goalAdaption	(	dynamicgraph::Vector &	goals,
		const std::string &	dir
	)

References loadTrainingParams(), mJointAngle, nJoints, nSources1, nSources2, wNonPeriodic, wPeriodic1, and wPeriodic2.

Referenced by setParams().

void dynamicgraph::sot::tools::KinematicPlanner::loadSourceDelays

(

const std::string &

dir

)

References nJoints, npSource, nSources1, nSources2, nTimeSteps, pDelay1, pDelay2, pSource1, and pSource2.

Referenced by setParams().

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
	)

Referenced by goalAdaption().

template<typename Derived >

void dynamicgraph::sot::tools::KinematicPlanner::read2DArray	(	std::string &	fileName,
		Eigen::DenseBase< Derived > &	outArr
	)

int & dynamicgraph::sot::tools::KinematicPlanner::runKinematicPlanner	(	int &	dummy,
		int	time
	)

References blending(), dynamicgraph::sot::tools::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(), and parametersSet.

Referenced by KinematicPlanner().

void dynamicgraph::sot::tools::KinematicPlanner::savitzkyGolayFilter	(	Eigen::Ref< Eigen::ArrayXXd >	allJointTraj,
		int	polyOrder,
		int	frameSize
	)

Referenced by blending().

void dynamicgraph::sot::tools::KinematicPlanner::setParams	(	const double &	_distanceToDrawer,
		const double &	_objectPositionInDrawer,
		const std::string &	dir
	)

References createSubGoals(), delaySources(), goalAdaption(), loadSourceDelays(), mJointAngle, nGaitCycles, nJoints, npSource, nSources1, nSources2, nTimeSteps, parametersSet, pDelay1, pDelay2, pSource1, pSource2, pSourceDelayed1, pSourceDelayed2, wNonPeriodic, wPeriodic1, and wPeriodic2.

Referenced by KinematicPlanner().

void dynamicgraph::sot::tools::KinematicPlanner::smoothEnds

(

Eigen::Ref< Eigen::ArrayXd >

tr

)

Referenced by blending().

Member Data Documentation

std::list< dynamicgraph::SignalBase<int>* > dynamicgraph::sot::tools::KinematicPlanner::genericSignalRefs

Referenced by ~KinematicPlanner().

Eigen::ArrayXXd dynamicgraph::sot::tools::KinematicPlanner::mJointAngle

Referenced by blending(), goalAdaption(), and setParams().

int dynamicgraph::sot::tools::KinematicPlanner::nGaitCycles

Referenced by blending(), bSplineInterpolate(), and setParams().

int dynamicgraph::sot::tools::KinematicPlanner::nJoints

Referenced by blending(), bSplineInterpolate(), delaySources(), goalAdaption(), loadSourceDelays(), and setParams().

Eigen::ArrayXd dynamicgraph::sot::tools::KinematicPlanner::npSource

Referenced by blending(), loadSourceDelays(), and setParams().

int dynamicgraph::sot::tools::KinematicPlanner::nSources1

Referenced by blending(), delaySources(), goalAdaption(), loadSourceDelays(), and setParams().

int dynamicgraph::sot::tools::KinematicPlanner::nSources2

Referenced by blending(), delaySources(), goalAdaption(), loadSourceDelays(), and setParams().

int dynamicgraph::sot::tools::KinematicPlanner::nTimeSteps

Referenced by blending(), bSplineInterpolate(), delaySources(), loadSourceDelays(), and setParams().

bool dynamicgraph::sot::tools::KinematicPlanner::parametersSet

Referenced by KinematicPlanner(), runKinematicPlanner(), and setParams().

Eigen::ArrayXXd dynamicgraph::sot::tools::KinematicPlanner::pDelay1

Referenced by delaySources(), loadSourceDelays(), and setParams().

Eigen::ArrayXXd dynamicgraph::sot::tools::KinematicPlanner::pDelay2

Referenced by delaySources(), loadSourceDelays(), and setParams().

Eigen::ArrayXXd dynamicgraph::sot::tools::KinematicPlanner::pSource1

Referenced by delaySources(), loadSourceDelays(), and setParams().

Eigen::ArrayXXd dynamicgraph::sot::tools::KinematicPlanner::pSource2

Referenced by delaySources(), loadSourceDelays(), and setParams().

stdVectorofArrayXXd dynamicgraph::sot::tools::KinematicPlanner::pSourceDelayed1

Referenced by blending(), delaySources(), and setParams().

stdVectorofArrayXXd dynamicgraph::sot::tools::KinematicPlanner::pSourceDelayed2

Referenced by blending(), delaySources(), and setParams().

Eigen::ArrayXXd dynamicgraph::sot::tools::KinematicPlanner::wNonPeriodic

Referenced by blending(), goalAdaption(), and setParams().

stdVectorofArrayXXd dynamicgraph::sot::tools::KinematicPlanner::wPeriodic1

Referenced by blending(), goalAdaption(), and setParams().

stdVectorofArrayXXd dynamicgraph::sot::tools::KinematicPlanner::wPeriodic2

Referenced by blending(), goalAdaption(), and setParams().