#include <OMTask.h>

Inheritance diagram for Rcs::OMTask:

[legend]

Collaboration diagram for Rcs::OMTask:

Public Member Functions
	OMTask (Task *task)

virtual	~OMTask ()

	OMTask (const OMTask &)=delete

OMTask &	operator= (const OMTask &)=delete

	OMTask (OMTask &&)=delete

OMTask &	operator= (OMTask &&)=delete

virtual unsigned int	getStateDim () 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 std::vector< std::string >	getStateNames () const

OMTask *	setMinState (double minState)

OMTask *	setMinState (std::vector< double > minState)

OMTask *	setMaxState (double maxState)

OMTask *	setMaxState (std::vector< double > maxState)

OMTask *	setMaxVelocity (double maxVelocity)

OMTask *	setMaxVelocity (std::vector< double > maxVelocity)

Task *	getTask () 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 unsigned int	getVelocityDim () 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

Protected Member Functions
void	initTaskBodyNames (const char effectorName, const char refBodyName, const char *refFrameName)

Private Attributes
Task *	task

std::vector< double >	maxVelocity

Detailed Description

ObservationModel wrapping a Rcs Task.

Note: By default, the state min/max is taken from the task, and the maximum velocity is set to infinity. Use the various setters to change these limits. All limit setters return this for chanining.

Definition at line 47 of file OMTask.h.

Constructor & Destructor Documentation

◆ OMTask() [1/3]

Rcs::OMTask::OMTask ( Task * task )

Wrap the given task. Takes ownership of the task object.

Definition at line 42 of file OMTask.cpp.

◆ ~OMTask()

Rcs::OMTask::~OMTask ( )

virtual

Definition at line 44 of file OMTask.cpp.

◆ OMTask() [2/3]

Rcs::OMTask::OMTask ( const OMTask & )

delete

◆ OMTask() [3/3]

Rcs::OMTask::OMTask ( OMTask && )

delete

Member Function Documentation

◆ computeObservation()

void Rcs::OMTask::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.

Reimplemented in Rcs::OMBallPos.

Definition at line 54 of file OMTask.cpp.

◆ getLimits()

void Rcs::OMTask::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 60 of file OMTask.cpp.

◆ getStateDim()

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

virtual

The number of state variables.

Implements Rcs::ObservationModel.

Definition at line 49 of file OMTask.cpp.

◆ getStateNames()

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

◆ getTask()

Task* Rcs::OMTask::getTask ( ) const

inline

Return the wrapped Rcs Task.

Definition at line 101 of file OMTask.h.

◆ initTaskBodyNames()

void Rcs::OMTask::initTaskBodyNames	(	const char *	effectorName,
		const char *	refBodyName,
		const char *	refFrameName
	)

protected

Initialize the task's effector, refBody and refFrame values by looking up the named bodies from the graph.

Parameters

effectorName	Name of effector body, a.k.a. the body controlled by the task.
refBodyName	Name of reference body, a.k.a. the body the task coordinates should be relative to. Set to NULL to use the world origin.
refFrameName	Name of the reference frame body. The task coordinates will be expressed in this body's frame if set. If this is NULL, refBodyName will be used.

Definition at line 139 of file OMTask.cpp.

◆ operator=() [1/2]

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

delete

◆ operator=() [2/2]

OMTask& Rcs::OMTask::operator= ( OMTask && )

delete

◆ setMaxState() [1/2]

OMTask * Rcs::OMTask::setMaxState ( double maxState )

Set the upper state limit, broadcasting one value to all elements.

Definition at line 109 of file OMTask.cpp.

◆ setMaxState() [2/2]

OMTask * Rcs::OMTask::setMaxState ( std::vector< double > maxState )

Set the upper state limit. The number of elements must match the state dimension.

Definition at line 117 of file OMTask.cpp.

◆ setMaxVelocity() [1/2]

OMTask * Rcs::OMTask::setMaxVelocity ( double maxVelocity )

Set the velocity limit, broadcasting one value to all elements.

Definition at line 126 of file OMTask.cpp.

◆ setMaxVelocity() [2/2]

OMTask * Rcs::OMTask::setMaxVelocity ( std::vector< double > maxVelocity )

Set the velocity limit. The number of elements must match the state dimension.

Definition at line 132 of file OMTask.cpp.

◆ setMinState() [1/2]

OMTask * Rcs::OMTask::setMinState ( double minState )

Set the lower state limit, broadcasting one value to all elements.

Definition at line 92 of file OMTask.cpp.

◆ setMinState() [2/2]

OMTask * Rcs::OMTask::setMinState ( std::vector< double > minState )

Set the lower state limit. The number of elements must match the state dimension.

Definition at line 100 of file OMTask.cpp.

Member Data Documentation

◆ maxVelocity

std::vector<double> Rcs::OMTask::maxVelocity

private

Settable maximum velocity (min/max state is stored in task parameter)

Definition at line 121 of file OMTask.h.

◆ task

Task* Rcs::OMTask::task

private

Wrapped task object (owned!)

Definition at line 118 of file OMTask.h.

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

src/cpp/core/observation/OMTask.h
src/cpp/core/observation/OMTask.cpp

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ OMTask() [1/3]

◆ ~OMTask()

◆ OMTask() [2/3]

◆ OMTask() [3/3]

Member Function Documentation

◆ computeObservation()

◆ getLimits()

◆ getStateDim()

◆ getStateNames()

◆ getTask()

◆ initTaskBodyNames()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setMaxState() [1/2]

◆ setMaxState() [2/2]

◆ setMaxVelocity() [1/2]

◆ setMaxVelocity() [2/2]

◆ setMinState() [1/2]

◆ setMinState() [2/2]

Member Data Documentation

◆ maxVelocity

◆ task