Rcs::AMIKGeneric Class Reference

#include <ActionModelIK.h>

Inheritance diagram for Rcs::AMIKGeneric:

Collaboration diagram for Rcs::AMIKGeneric:

Public Member Functions
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	getStableAction (MatNd *action) const
Public Member Functions inherited from Rcs::ActionModelIK
	ActionModelIK (RcsGraph *graph)
	ActionModelIK (RcsGraph *graph, std::vector< Task *> tasks)
virtual	~ActionModelIK ()
virtual void	reset ()
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

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
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

Detailed Description

Generic IK-based action model.

Here, the action is used directly as desired task space state for the IK. You need to add your tasks to the controller before using it:

AMIKGeneric* am = new AMIKGeneric(graph);
am->addTask(new TaskXY(...));
am->reset(); // now it can be used, and no new tasks must be added.

Definition at line 167 of file ActionModelIK.h.

Member Function Documentation

clone()

ActionModel * Rcs::AMIKGeneric::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 367 of file ActionModelIK.cpp.

computeCommand()

void Rcs::AMIKGeneric::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.

Reimplemented in Rcs::AMIKControllerActivation.

Definition at line 338 of file ActionModelIK.cpp.

getDim()

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

virtual

Provides the number of elements in the space. Since the BoxSpace object will be cached, this must not change.

Returns

number of elements for the space.

Implements Rcs::BoxSpaceProvider.

Reimplemented in Rcs::AMIKControllerActivation.

Definition at line 306 of file ActionModelIK.cpp.

getMinMax()

void Rcs::AMIKGeneric::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.

Reimplemented in Rcs::AMIKControllerActivation.

Definition at line 311 of file ActionModelIK.cpp.

getNames()

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

Reimplemented in Rcs::AMIKControllerActivation.

Definition at line 325 of file ActionModelIK.cpp.

getStableAction()

void Rcs::AMIKGeneric::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.

Reimplemented in Rcs::AMIKControllerActivation.

Definition at line 354 of file ActionModelIK.cpp.

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

• src/cpp/core/action/ActionModelIK.h
• src/cpp/core/action/ActionModelIK.cpp