Rcs::OMCombined Class Reference

#include <OMCombined.h>

Inheritance diagram for Rcs::OMCombined:

Collaboration diagram for Rcs::OMCombined:

Public Member Functions
virtual	~OMCombined ()
void	addPart (ObservationModel *part)
virtual unsigned int	getStateDim () const
virtual unsigned int	getVelocityDim () const
virtual void	computeObservation (double *state, double *velocity, const MatNd *currentAction, double dt) const
virtual void	getLimits (double *minState, double *maxState, double *maxVelocity) const
virtual void	reset ()
virtual std::vector< std::string >	getStateNames () const
virtual std::vector< std::string >	getVelocityNames () const
virtual std::vector< ObservationModel * >	getNested () const
Public Member Functions inherited from Rcs::ObservationModel
virtual	~ObservationModel ()
MatNd *	computeObservation (const MatNd *currentAction, double dt) const
void	computeObservation (MatNd *observation, const MatNd *currentAction, double dt) const
virtual void	getMinMax (double *min, double *max) const final
virtual unsigned int	getDim () const final
virtual std::vector< std::string >	getNames () const final
template<typename OM >
OM *	findModel ()
template<typename OM >
Offsets	findOffsets ()
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
std::vector< ObservationModel * >	parts

Detailed Description

Combines multiple ObservationModels into one by concatenating their observation vectors.

Definition at line 44 of file OMCombined.h.

Constructor & Destructor Documentation

~OMCombined()

Rcs::OMCombined::~OMCombined ( )

virtual

Definition at line 36 of file OMCombined.cpp.

Member Function Documentation

addPart()

void Rcs::OMCombined::addPart

(

ObservationModel *

part

)

Add an ObservationModel as part of this combined model.

This must be done right after construction, before reset() is called for the first time.

OMCombined will assume ownership of the passed object.

Parameters

[in]

part

part model to add

Definition at line 43 of file OMCombined.cpp.

computeObservation()

void Rcs::OMCombined::computeObservation ( double *  state, double *  velocity, const MatNd *  currentAction, double  dt  ) const

virtual

Implement to fill the observation vector with the observed values.

Parameters

[out]	state	state observation vector to fill, has getStateDim() elements.
[out]	velocity	velocity observation vector to fill, has getVelocityDim() elements.
[in]	currentAction	action in current step. May be NULL if not available.
[in]	dt	time step since the last observation has been taken

Implements Rcs::ObservationModel.

Definition at line 68 of file OMCombined.cpp.

getLimits()

void Rcs::OMCombined::getLimits ( double *  minState, double *  maxState, double *  maxVelocity  ) const

virtual

Provides the minimum and maximum observable values. Since the velocity is symmetric, only the maximum needs to be provided. The default implementation uses -inf and inf.

Parameters

[out]	minState	minimum state vector to fill, has getStateDim() elements.
[out]	maxState	maximum state vector to fill, has getStateDim() elements.
[out]	maxVelocity	maximum velocity vector to fill, has getVelocityDim() elements.

Reimplemented from Rcs::ObservationModel.

Definition at line 78 of file OMCombined.cpp.

getNested()

std::vector< ObservationModel * > Rcs::OMCombined::getNested ( ) const

virtual

List directly nested observation models. The default implementation returns an empty list, since there are no nested models.

Reimplemented from Rcs::ObservationModel.

Definition at line 127 of file OMCombined.cpp.

getStateDim()

unsigned int Rcs::OMCombined::getStateDim ( ) const

virtual

The number of state variables.

Implements Rcs::ObservationModel.

Definition at line 48 of file OMCombined.cpp.

getStateNames()

std::vector< std::string > Rcs::OMCombined::getStateNames ( ) const

virtual

Provides names for each state entry.

Returns

a vector of name strings. Must be of length getStateDim() or empty for a nameless space.

Reimplemented from Rcs::ObservationModel.

Definition at line 91 of file OMCombined.cpp.

getVelocityDim()

unsigned int Rcs::OMCombined::getVelocityDim ( ) const

virtual

The number of velocity variables. The default implementation assumes that for each state there is a velocity.

Reimplemented from Rcs::ObservationModel.

Definition at line 58 of file OMCombined.cpp.

getVelocityNames()

std::vector< std::string > Rcs::OMCombined::getVelocityNames ( ) const

virtual

Provides names for each velocity entry. The default implementation derives the names from getStateNames(), appending a 'd' to each name.

Returns

a vector of name strings. Must be of length getVelocityDim() or empty for a nameless space.

Reimplemented from Rcs::ObservationModel.

Definition at line 105 of file OMCombined.cpp.

reset()

void Rcs::OMCombined::reset ( )

virtual

Reset any internal state. This is called to begin a new episode. It should also reset values depending on modifiable physics parameters. This is an optional operation, so the default implementation does nothing.

Reimplemented from Rcs::ObservationModel.

Definition at line 119 of file OMCombined.cpp.

Member Data Documentation

parts

std::vector<ObservationModel*> Rcs::OMCombined::parts

private

Definition at line 77 of file OMCombined.h.

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

• src/cpp/core/observation/OMCombined.h
• src/cpp/core/observation/OMCombined.cpp