#include <AMDynamicalSystemActivation.h>

Inheritance diagram for Rcs::AMDynamicalSystemActivation:

Collaboration diagram for Rcs::AMDynamicalSystemActivation:

Public Member Functions
	AMDynamicalSystemActivation (ActionModel wrapped, std::vector< DynamicalSystem > ds, TaskCombinationMethod tcm)

virtual	~AMDynamicalSystemActivation ()

virtual ActionModel *	clone (RcsGraph *newGraph) const

virtual unsigned int	getDim () const

virtual void	getMinMax (double min, double max) const

virtual std::vector< std::string >	getNames () const

virtual void	computeCommand (MatNd q_des, MatNd q_dot_des, MatNd T_des, const MatNd action, double dt)

virtual void	reset ()

virtual void	getStableAction (MatNd *action) const

Eigen::VectorXd	getX () const

Eigen::VectorXd	getXdot () const

virtual ActionModel *	getWrappedActionModel () const

const std::vector< DynamicalSystem * > &	getDynamicalSystems () const

MatNd *	getActivation () const

const char *	getTaskCombinationMethodName () const

Public Member Functions inherited from Rcs::ActionModel
	ActionModel (RcsGraph *graph)

virtual	~ActionModel ()

ActionModel *	clone () const

RcsGraph *	getGraph ()

void	setGraph (RcsGraph *newGraph)

const ActionModel *	unwrapAll () const

ActionModel *	unwrapAll ()

template<typename AM >
const AM *	unwrap () const

template<typename AM >
AM *	unwrap ()

Public Member Functions inherited from Rcs::BoxSpaceProvider
	BoxSpaceProvider ()

virtual	~BoxSpaceProvider ()

	BoxSpaceProvider (const BoxSpaceProvider &)=delete

BoxSpaceProvider &	operator= (const BoxSpaceProvider &)=delete

	BoxSpaceProvider (BoxSpaceProvider &&)=delete

BoxSpaceProvider &	operator= (BoxSpaceProvider &&)=delete

const BoxSpace *	getSpace () const

Static Public Member Functions
static TaskCombinationMethod	checkTaskCombinationMethod (std::string tcmName)

Protected Attributes
ActionModel *	wrapped

std::vector< DynamicalSystem * >	dynamicalSystems

Eigen::VectorXd	x

Eigen::VectorXd	x_dot

MatNd *	activation

TaskCombinationMethod	taskCombinationMethod

Protected Attributes inherited from Rcs::ActionModel
RcsGraph *	graph

Detailed Description

Action model controlling the activations of multiple tasks. Each task is defined by a DynamicalSystem. For every task, there is one activation variable as part of the action space. The activation is a value between 0 and 1, where 0 means to ignore the task completely. The activation values do not need to sum to 1.

Definition at line 45 of file AMDynamicalSystemActivation.h.

Constructor & Destructor Documentation

◆ AMDynamicalSystemActivation()

Rcs::AMDynamicalSystemActivation::AMDynamicalSystemActivation	(	ActionModel *	wrapped,
		std::vector< DynamicalSystem *>	ds,
		TaskCombinationMethod	tcm
	)

explicit

Constructor

Parameters

[in]	wrapped	ActionModel defining the output space of the tasks (takes ownership)
[in]	ds	List of dynamical systems (takes ownership)
[in]	tcm	Mode that determines how the different tasks a.k.a. movement primitives are combined

Definition at line 43 of file AMDynamicalSystemActivation.cpp.

◆ ~AMDynamicalSystemActivation()

Rcs::AMDynamicalSystemActivation::~AMDynamicalSystemActivation ( )

virtual

Definition at line 50 of file AMDynamicalSystemActivation.cpp.

Member Function Documentation

◆ checkTaskCombinationMethod()

TaskCombinationMethod Rcs::AMDynamicalSystemActivation::checkTaskCombinationMethod ( std::string tcmName )

static

Definition at line 233 of file AMDynamicalSystemActivation.cpp.

◆ clone()

ActionModel * Rcs::AMDynamicalSystemActivation::clone ( RcsGraph * newGraph ) const

virtual

Create a deep copy of this action model. The graph the action model operates on is replaced with newGraph.

Parameters

newGraph optionally, replace the graph used with newGraph.

Returns: deep copy with new graph.

Implements Rcs::ActionModel.

Definition at line 223 of file AMDynamicalSystemActivation.cpp.

◆ computeCommand()

void Rcs::AMDynamicalSystemActivation::computeCommand	(	MatNd *	q_des,
		MatNd *	q_dot_des,
		MatNd *	T_des,
		const MatNd *	action,
		double	dt
	)

virtual

Compute the joint commands from a specified action and the current state.

Parameters

[out]	q_des	desired joint positions
[out]	q_dot_des	desired joint velocities
[out]	T_des	desired joint torques
[in]	action	input action values
	dt	difference in time since the last call.

Implements Rcs::ActionModel.

Definition at line 82 of file AMDynamicalSystemActivation.cpp.

◆ getActivation()

MatNd * Rcs::AMDynamicalSystemActivation::getActivation ( ) const

Definition at line 275 of file AMDynamicalSystemActivation.cpp.

◆ getDim()

unsigned int Rcs::AMDynamicalSystemActivation::getDim ( ) const

virtual

Get the number of DS, i.e. entries in the dynamicalSystems vector, owned by the action model.

Implements Rcs::BoxSpaceProvider.

Definition at line 59 of file AMDynamicalSystemActivation.cpp.

◆ getDynamicalSystems()

const std::vector< DynamicalSystem * > & Rcs::AMDynamicalSystemActivation::getDynamicalSystems ( ) const

Get a vector of the owned dynamical systems.

Definition at line 218 of file AMDynamicalSystemActivation.cpp.

◆ getMinMax()

void Rcs::AMDynamicalSystemActivation::getMinMax	(	double *	min,
		double *	max
	)		const

virtual

Provides minimum and maximum values for the space.

The passed arrays will be large enough to hold getDim() values.

Parameters

[out]	min	minimum value storage
[out]	max	maximum value storage

Implements Rcs::BoxSpaceProvider.

Definition at line 64 of file AMDynamicalSystemActivation.cpp.

◆ getNames()

std::vector< std::string > Rcs::AMDynamicalSystemActivation::getNames ( ) const

virtual

Provides names for each entry of the space.

These are intended for use in python, i.e., for pandas dataframe column names.

Returns: a vector of name strings. Must be of length getDim() or empty.

Reimplemented from Rcs::BoxSpaceProvider.

Definition at line 73 of file AMDynamicalSystemActivation.cpp.

◆ getStableAction()

void Rcs::AMDynamicalSystemActivation::getStableAction ( MatNd * action ) const

virtual

Obtain action values which would keep the system in the current state. For action variables which are velocities or accelerations, this should be 0. For action variables which are positions, this should be the current position.

Parameters

[out] action matrix to write the values into

Implements Rcs::ActionModel.

Definition at line 197 of file AMDynamicalSystemActivation.cpp.

◆ getTaskCombinationMethodName()

const char * Rcs::AMDynamicalSystemActivation::getTaskCombinationMethodName ( ) const

Definition at line 256 of file AMDynamicalSystemActivation.cpp.

◆ getWrappedActionModel()

ActionModel * Rcs::AMDynamicalSystemActivation::getWrappedActionModel ( ) const

virtual

If this ActionModel is a wrapper for another action model, return the wrapped action model. Otherwise, return NULL.

Returns: wrapped action model or NULL if none.

Reimplemented from Rcs::ActionModel.

Definition at line 213 of file AMDynamicalSystemActivation.cpp.

◆ getX()

Eigen::VectorXd Rcs::AMDynamicalSystemActivation::getX ( ) const

Definition at line 203 of file AMDynamicalSystemActivation.cpp.

◆ getXdot()

Eigen::VectorXd Rcs::AMDynamicalSystemActivation::getXdot ( ) const

Definition at line 208 of file AMDynamicalSystemActivation.cpp.

◆ reset()

void Rcs::AMDynamicalSystemActivation::reset ( )

virtual

Called at the start of a rollout to reset any state modified by computeCommand(). This allows to reuse the ActionModel for a new simulation rollout. The graph state will already be reset, so it can be used safely. It will be called before the first rollout too, so it can also be used to setup internals that depend on operations in subclass constructors.

Reimplemented from Rcs::ActionModel.

Definition at line 185 of file AMDynamicalSystemActivation.cpp.

Member Data Documentation

◆ activation

MatNd* Rcs::AMDynamicalSystemActivation::activation

protected

The activation resulting from the action and the task combination method (used for logging)

Definition at line 101 of file AMDynamicalSystemActivation.h.

◆ dynamicalSystems

std::vector<DynamicalSystem*> Rcs::AMDynamicalSystemActivation::dynamicalSystems

protected

List of dynamical systems.

Definition at line 95 of file AMDynamicalSystemActivation.h.

◆ taskCombinationMethod

TaskCombinationMethod Rcs::AMDynamicalSystemActivation::taskCombinationMethod

protected

Way to combine the tasks' contribution.

Definition at line 103 of file AMDynamicalSystemActivation.h.

◆ wrapped

ActionModel* Rcs::AMDynamicalSystemActivation::wrapped

protected

Wrapped action model.

Definition at line 93 of file AMDynamicalSystemActivation.h.

◆ x

Eigen::VectorXd Rcs::AMDynamicalSystemActivation::x

protected

Current state in task space.

Definition at line 97 of file AMDynamicalSystemActivation.h.

◆ x_dot

Eigen::VectorXd Rcs::AMDynamicalSystemActivation::x_dot

protected

Current velocity in task space.

Definition at line 99 of file AMDynamicalSystemActivation.h.

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

src/cpp/core/action/AMDynamicalSystemActivation.h
src/cpp/core/action/AMDynamicalSystemActivation.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AMDynamicalSystemActivation()

◆ ~AMDynamicalSystemActivation()

Member Function Documentation

◆ checkTaskCombinationMethod()

◆ clone()

◆ computeCommand()

◆ getActivation()

◆ getDim()

◆ getDynamicalSystems()

◆ getMinMax()

◆ getNames()

◆ getStableAction()

◆ getTaskCombinationMethodName()

◆ getWrappedActionModel()

◆ getX()

◆ getXdot()

◆ reset()

Member Data Documentation

◆ activation

◆ dynamicalSystems

◆ taskCombinationMethod

◆ wrapped

◆ x

◆ x_dot