#include <OMDynamicalSystemDiscrepancy.h>

Inheritance diagram for Rcs::OMDynamicalSystemDiscrepancy:

Collaboration diagram for Rcs::OMDynamicalSystemDiscrepancy:

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Public Member Functions
	OMDynamicalSystemDiscrepancy (AMDynamicalSystemActivation *actionModel)

virtual	~OMDynamicalSystemDiscrepancy ()

virtual unsigned int	getStateDim () const

unsigned int	getVelocityDim () const override

virtual void	computeObservation (double state, double velocity, const MatNd *currentAction, double dt) const

void	reset () override

virtual std::vector< std::string >	getStateNames () 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	getLimits (double minState, double maxState, double *maxVelocity) const

virtual std::vector< std::string >	getVelocityNames () 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 ()

virtual std::vector< ObservationModel * >	getNested () const

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
AMDynamicalSystemActivation *	actionModel

ControllerBase *	controller

MatNd *	x_curr

Detailed Description

ObservationModel wrapping multiple AMDynamicalSystemActivation to compute the discrepancies between the task space changes commanded by the DS and the ones executed by the robot.

Definition at line 47 of file OMDynamicalSystemDiscrepancy.h.

Constructor & Destructor Documentation

◆ OMDynamicalSystemDiscrepancy()

Rcs::OMDynamicalSystemDiscrepancy::OMDynamicalSystemDiscrepancy ( AMDynamicalSystemActivation * actionModel )

explicit

Create from action model. NOTE: assumes that the task activation action model wraps a IK-based action model.

Definition at line 42 of file OMDynamicalSystemDiscrepancy.cpp.

◆ ~OMDynamicalSystemDiscrepancy()

Rcs::OMDynamicalSystemDiscrepancy::~OMDynamicalSystemDiscrepancy ( )

virtual

Definition at line 61 of file OMDynamicalSystemDiscrepancy.cpp.

Member Function Documentation

◆ computeObservation()

void Rcs::OMDynamicalSystemDiscrepancy::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 72 of file OMDynamicalSystemDiscrepancy.cpp.

◆ getStateDim()

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

virtual

The number of state variables.

Implements Rcs::ObservationModel.

Definition at line 67 of file OMDynamicalSystemDiscrepancy.cpp.

◆ getStateNames()

std::vector< std::string > Rcs::OMDynamicalSystemDiscrepancy::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 110 of file OMDynamicalSystemDiscrepancy.cpp.

◆ getVelocityDim()

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

overridevirtual

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

Reimplemented from Rcs::ObservationModel.

Definition at line 56 of file OMDynamicalSystemDiscrepancy.cpp.

◆ reset()

void Rcs::OMDynamicalSystemDiscrepancy::reset ( )

overridevirtual

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 104 of file OMDynamicalSystemDiscrepancy.cpp.