#include <AMIntegrate1stOrder.h>

Inheritance diagram for Rcs::AMIntegrate1stOrder:

Collaboration diagram for Rcs::AMIntegrate1stOrder:

Public Member Functions
	AMIntegrate1stOrder (ActionModel *wrapped, double maxAction)

virtual	~AMIntegrate1stOrder ()

	AMIntegrate1stOrder (const AMIntegrate1stOrder &)=delete

AMIntegrate1stOrder &	operator= (const AMIntegrate1stOrder &)=delete

	AMIntegrate1stOrder (AMIntegrate1stOrder &&)=delete

AMIntegrate1stOrder &	operator= (AMIntegrate1stOrder &&)=delete

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

virtual ActionModel *	getWrappedActionModel () 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

Private Attributes
ActionModel *	wrapped

MatNd *	maxAction

MatNd *	integrated_action

Additional Inherited Members
Protected Attributes inherited from Rcs::ActionModel
RcsGraph *	graph

Detailed Description

Integrates action values twice and passes them to a wrapped action model.

This allows to use a position based action model like the inverse kinematics, but command it accelerations instead.

Definition at line 45 of file AMIntegrate1stOrder.h.

Constructor & Destructor Documentation

◆ AMIntegrate1stOrder() [1/3]

Rcs::AMIntegrate1stOrder::AMIntegrate1stOrder	(	ActionModel *	wrapped,
		double	maxAction
	)

explicit

Constructor.

Takes ownership of the passed inner action model.

Parameters

wrapped	inner action model using the integrated action values
maxAction	maximum action value, reported in action space

Definition at line 40 of file AMIntegrate1stOrder.cpp.

◆ ~AMIntegrate1stOrder()

Rcs::AMIntegrate1stOrder::~AMIntegrate1stOrder ( )

virtual

Definition at line 52 of file AMIntegrate1stOrder.cpp.

◆ AMIntegrate1stOrder() [2/3]

Rcs::AMIntegrate1stOrder::AMIntegrate1stOrder ( const AMIntegrate1stOrder & )

delete

◆ AMIntegrate1stOrder() [3/3]

Rcs::AMIntegrate1stOrder::AMIntegrate1stOrder ( AMIntegrate1stOrder && )

delete

Member Function Documentation

◆ clone()

ActionModel * Rcs::AMIntegrate1stOrder::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 106 of file AMIntegrate1stOrder.cpp.

◆ computeCommand()

void Rcs::AMIntegrate1stOrder::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 79 of file AMIntegrate1stOrder.cpp.

◆ getDim()

unsigned int Rcs::AMIntegrate1stOrder::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.

Definition at line 58 of file AMIntegrate1stOrder.cpp.

◆ getMinMax()

void Rcs::AMIntegrate1stOrder::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 63 of file AMIntegrate1stOrder.cpp.

◆ getNames()

std::vector< std::string > Rcs::AMIntegrate1stOrder::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 69 of file AMIntegrate1stOrder.cpp.

◆ getStableAction()

void Rcs::AMIntegrate1stOrder::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 95 of file AMIntegrate1stOrder.cpp.

◆ getWrappedActionModel()

ActionModel * Rcs::AMIntegrate1stOrder::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 101 of file AMIntegrate1stOrder.cpp.

◆ operator=() [1/2]

AMIntegrate1stOrder& Rcs::AMIntegrate1stOrder::operator= ( const AMIntegrate1stOrder & )

delete

◆ operator=() [2/2]

AMIntegrate1stOrder& Rcs::AMIntegrate1stOrder::operator= ( AMIntegrate1stOrder && )

delete

◆ reset()

void Rcs::AMIntegrate1stOrder::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 88 of file AMIntegrate1stOrder.cpp.

Member Data Documentation

◆ integrated_action

MatNd* Rcs::AMIntegrate1stOrder::integrated_action

private

Definition at line 54 of file AMIntegrate1stOrder.h.

◆ maxAction

MatNd* Rcs::AMIntegrate1stOrder::maxAction

private

Definition at line 51 of file AMIntegrate1stOrder.h.

◆ wrapped

ActionModel* Rcs::AMIntegrate1stOrder::wrapped

private

Definition at line 49 of file AMIntegrate1stOrder.h.

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

src/cpp/core/action/AMIntegrate1stOrder.h
src/cpp/core/action/AMIntegrate1stOrder.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AMIntegrate1stOrder() [1/3]

◆ ~AMIntegrate1stOrder()

◆ AMIntegrate1stOrder() [2/3]

◆ AMIntegrate1stOrder() [3/3]

Member Function Documentation

◆ clone()

◆ computeCommand()

◆ getDim()

◆ getMinMax()

◆ getNames()

◆ getStableAction()

◆ getWrappedActionModel()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ reset()

Member Data Documentation

◆ integrated_action

◆ maxAction

◆ wrapped