Rcs::OMManipulabilityIndex Class Reference

#include <OMManipulabilityIndex.h>

Inheritance diagram for Rcs::OMManipulabilityIndex:

Collaboration diagram for Rcs::OMManipulabilityIndex:

Public Member Functions
	OMManipulabilityIndex (ActionModelIK *ikModel, bool observeCurrent=false)
	~OMManipulabilityIndex () override
unsigned int	getStateDim () const override
unsigned int	getVelocityDim () const override
void	computeObservation (double *state, double *velocity, const MatNd *currentAction, double dt) const override
std::vector< std::string >	getStateNames () const override
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 void	reset ()
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
ControllerBase *	controller
RcsGraph *	observedGraph

Detailed Description

Observes the manipulability index of the graph.

Definition at line 43 of file OMManipulabilityIndex.h.

Constructor & Destructor Documentation

OMManipulabilityIndex()

Rcs::OMManipulabilityIndex::OMManipulabilityIndex ( Rcs::ActionModelIK *  ikModel, bool  observeCurrent = false  )

explicit

Create from action model

Parameters

ikModel	action model to copy controller tasks from
observeCurrent	true to observe the current graph instead of the desired graph.

Definition at line 34 of file OMManipulabilityIndex.cpp.

~OMManipulabilityIndex()

Rcs::OMManipulabilityIndex::~OMManipulabilityIndex ( )

override

Definition at line 45 of file OMManipulabilityIndex.cpp.

Member Function Documentation

computeObservation()

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

overridevirtual

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 60 of file OMManipulabilityIndex.cpp.

getStateDim()

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

overridevirtual

The number of state variables.

Implements Rcs::ObservationModel.

Definition at line 50 of file OMManipulabilityIndex.cpp.

getStateNames()

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

overridevirtual

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 69 of file OMManipulabilityIndex.cpp.

getVelocityDim()

unsigned int Rcs::OMManipulabilityIndex::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 55 of file OMManipulabilityIndex.cpp.

Member Data Documentation

controller

ControllerBase* Rcs::OMManipulabilityIndex::controller

private

Definition at line 47 of file OMManipulabilityIndex.h.

observedGraph

RcsGraph* Rcs::OMManipulabilityIndex::observedGraph

private

Definition at line 50 of file OMManipulabilityIndex.h.

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

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