Rcs::AMNormalized Class Reference

#include <AMNormalized.h>

Inheritance diagram for Rcs::AMNormalized:

Collaboration diagram for Rcs::AMNormalized:

Public Member Functions
	AMNormalized (ActionModel *wrapped)
virtual	~AMNormalized ()
	AMNormalized (const AMNormalized &)=delete
AMNormalized &	operator= (const AMNormalized &)=delete
	AMNormalized (AMNormalized &&)=delete
AMNormalized &	operator= (AMNormalized &&)=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 *	scale
MatNd *	shift

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

Detailed Description

Wraps another action model to accept normalized action values in the range [-1, 1]. The passed action values are denormalized and then passed to the wrapped action model.

Definition at line 43 of file AMNormalized.h.

Constructor & Destructor Documentation

AMNormalized() [1/3]

Rcs::AMNormalized::AMNormalized

(

ActionModel *

wrapped

)

Definition at line 39 of file AMNormalized.cpp.

~AMNormalized()

Rcs::AMNormalized::~AMNormalized ( )

virtual

Definition at line 59 of file AMNormalized.cpp.

AMNormalized() [2/3]

Rcs::AMNormalized::AMNormalized ( const AMNormalized &  )

delete

AMNormalized() [3/3]

Rcs::AMNormalized::AMNormalized ( AMNormalized &&  )

delete

Member Function Documentation

clone()

ActionModel * Rcs::AMNormalized::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 122 of file AMNormalized.cpp.

computeCommand()

void Rcs::AMNormalized::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 80 of file AMNormalized.cpp.

getDim()

unsigned int Rcs::AMNormalized::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 64 of file AMNormalized.cpp.

getMinMax()

void Rcs::AMNormalized::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 69 of file AMNormalized.cpp.

getNames()

std::vector< std::string > Rcs::AMNormalized::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 75 of file AMNormalized.cpp.

getStableAction()

void Rcs::AMNormalized::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 107 of file AMNormalized.cpp.

getWrappedActionModel()

ActionModel * Rcs::AMNormalized::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 117 of file AMNormalized.cpp.

operator=() [1/2]

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

delete

operator=() [2/2]

AMNormalized& Rcs::AMNormalized::operator= ( AMNormalized &&  )

delete

reset()

void Rcs::AMNormalized::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 102 of file AMNormalized.cpp.

Member Data Documentation

scale

MatNd* Rcs::AMNormalized::scale

private

Definition at line 49 of file AMNormalized.h.

shift

MatNd* Rcs::AMNormalized::shift

private

Definition at line 51 of file AMNormalized.h.

wrapped

ActionModel* Rcs::AMNormalized::wrapped

private

Definition at line 47 of file AMNormalized.h.

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

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