#include <AMIKControllerActivation.h>

Inheritance diagram for Rcs::AMIKControllerActivation:

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Collaboration diagram for Rcs::AMIKControllerActivation:

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Public Member Functions
	AMIKControllerActivation (RcsGraph *graph, TaskCombinationMethod tcm)

virtual	~AMIKControllerActivation ()

void	addAlwaysActiveTask (Task *task)

virtual unsigned int	getDim () const

virtual void	getMinMax (double min, double max) const

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

void	reset ()

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

virtual void	getStableAction (MatNd *action) const

MatNd *	getActivation () const

MatNd *	getXdes () const

void	setXdes (const MatNd *x_des)

void	setXdesFromTaskSpec (std::vector< PropertySource *> &taskSpec)

const char *	getTaskCombinationMethodName () const

Public Member Functions inherited from Rcs::AMIKGeneric
virtual ActionModel *	clone (RcsGraph *newGraph) const

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

	ActionModelIK (RcsGraph graph, std::vector< Task > tasks)

virtual	~ActionModelIK ()

const ControllerBase *	getController () const

RcsGraph *	getDesiredGraph () const

void	setDesiredGraph (RcsGraph *newGraph)

void	setupCollisionModel (const RcsCollisionMdl *modelToCopy)

void	computeIK (MatNd q_des, MatNd q_dot_des, MatNd T_des, const MatNd x_des, double dt)

void	computeIKVel (MatNd q_des, MatNd q_dot_des, MatNd T_des, const MatNd x_dot_des, double dt)

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

virtual	~ActionModel ()

ActionModel *	clone () const

RcsGraph *	getGraph ()

void	setGraph (RcsGraph *newGraph)

virtual ActionModel *	getWrappedActionModel () const

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
MatNd *	x_des

unsigned int	dimAlwaysActiveTasks

MatNd *	activation

TaskCombinationMethod	taskCombinationMethod

Protected Attributes inherited from Rcs::ActionModelIK
RcsGraph *	desiredGraph

RcsCollisionMdl *	collisionMdl

MatNd *	dx_des

MatNd *	dH

MatNd *	dq_ref

Protected Attributes inherited from Rcs::ActionModel
RcsGraph *	graph

Additional Inherited Members
Protected Member Functions inherited from Rcs::ActionModelIK
void	addTask (Task *task)

void	addFixedTask (Task task, MatNd value)

unsigned int	getNumActiveTasks () const

void	ikFromDX (MatNd q_des, MatNd q_dot_des, double dt) const

Detailed Description

Action model controlling the activations of multiple tasks. Each task is defined by a Rcs IK controller task. 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 46 of file AMIKControllerActivation.h.

Constructor & Destructor Documentation

◆ AMIKControllerActivation()

Rcs::AMIKControllerActivation::AMIKControllerActivation	(	RcsGraph *	graph,
		TaskCombinationMethod	tcm
	)

explicit

Constructor

Parameters

[in] tcm Mode that determines how the different tasks a.k.a. movement primitives are combined

Definition at line 71 of file AMIKControllerActivation.cpp.

◆ ~AMIKControllerActivation()

Rcs::AMIKControllerActivation::~AMIKControllerActivation ( )

virtual

Definition at line 79 of file AMIKControllerActivation.cpp.

Member Function Documentation

◆ addAlwaysActiveTask()

void Rcs::AMIKControllerActivation::addAlwaysActiveTask ( Task * task )

Add Rcs controller tasks that are always active. Do this after adding the regular tasks.

Definition at line 85 of file AMIKControllerActivation.cpp.

◆ checkTaskCombinationMethod()

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

static

Definition at line 217 of file AMIKControllerActivation.cpp.

◆ computeCommand()

void Rcs::AMIKControllerActivation::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.

Reimplemented from Rcs::AMIKGeneric.

Definition at line 121 of file AMIKControllerActivation.cpp.

◆ getActivation()

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

Definition at line 259 of file AMIKControllerActivation.cpp.

◆ getDim()

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

virtual

Get the number of tasks multiplied by their individual dimension, owned by the action model, except the always active tasks.

Reimplemented from Rcs::AMIKGeneric.

Definition at line 91 of file AMIKControllerActivation.cpp.

◆ getMinMax()

void Rcs::AMIKControllerActivation::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

Reimplemented from Rcs::AMIKGeneric.

Definition at line 96 of file AMIKControllerActivation.cpp.

◆ getNames()

std::vector< std::string > Rcs::AMIKControllerActivation::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::AMIKGeneric.

Definition at line 105 of file AMIKControllerActivation.cpp.

◆ getStableAction()

void Rcs::AMIKControllerActivation::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

Reimplemented from Rcs::AMIKGeneric.

Definition at line 211 of file AMIKControllerActivation.cpp.

◆ getTaskCombinationMethodName()

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

Definition at line 240 of file AMIKControllerActivation.cpp.

◆ getXdes()

MatNd * Rcs::AMIKControllerActivation::getXdes ( ) const

Definition at line 264 of file AMIKControllerActivation.cpp.

◆ reset()

void Rcs::AMIKControllerActivation::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::ActionModelIK.

Definition at line 114 of file AMIKControllerActivation.cpp.

◆ setXdes()

void Rcs::AMIKControllerActivation::setXdes ( const MatNd * x_des )

Definition at line 269 of file AMIKControllerActivation.cpp.

◆ setXdesFromTaskSpec()

void Rcs::AMIKControllerActivation::setXdesFromTaskSpec ( std::vector< PropertySource *> & taskSpec )

Definition at line 276 of file AMIKControllerActivation.cpp.

Member Data Documentation

◆ activation

MatNd* Rcs::AMIKControllerActivation::activation

protected

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

Definition at line 93 of file AMIKControllerActivation.h.

◆ dimAlwaysActiveTasks

unsigned int Rcs::AMIKControllerActivation::dimAlwaysActiveTasks

protected

Store the cumulative number of task dimensions which are always active.

Definition at line 91 of file AMIKControllerActivation.h.

◆ taskCombinationMethod

TaskCombinationMethod Rcs::AMIKControllerActivation::taskCombinationMethod

protected

Way to combine the tasks' contribution.

Definition at line 95 of file AMIKControllerActivation.h.

◆ x_des

MatNd* Rcs::AMIKControllerActivation::x_des

protected

The goal in task space.

Definition at line 89 of file AMIKControllerActivation.h.

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

src/cpp/core/action/AMIKControllerActivation.h
src/cpp/core/action/AMIKControllerActivation.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AMIKControllerActivation()

◆ ~AMIKControllerActivation()

Member Function Documentation

◆ addAlwaysActiveTask()

◆ checkTaskCombinationMethod()

◆ computeCommand()

◆ getActivation()

◆ getDim()

◆ getMinMax()

◆ getNames()

◆ getStableAction()

◆ getTaskCombinationMethodName()

◆ getXdes()

◆ reset()

◆ setXdes()

◆ setXdesFromTaskSpec()

Member Data Documentation

◆ activation

◆ dimAlwaysActiveTasks

◆ taskCombinationMethod

◆ x_des