#include <OMTaskPositions.h>

Inheritance diagram for Rcs::OMTaskPositions:

[legend]

Collaboration diagram for Rcs::OMTaskPositions:

Public Member Functions
	OMTaskPositions (Task *task)

virtual	~OMTaskPositions ()

	OMTaskPositions (const OMTaskPositions &)=delete

OMTaskPositions &	operator= (const OMTaskPositions &)=delete

	OMTaskPositions (OMTaskPositions &&)=delete

OMTaskPositions &	operator= (OMTaskPositions &&)=delete

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

OMTaskPositions *	setMinState (double minState)

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

OMTaskPositions *	setMaxState (double maxState)

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

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 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

Detailed Description

ObservationModel wrapping a Rcs Task.

Note: In contrast to OMTask, this ObservationModel only observes the task space positions called X.

Definition at line 46 of file OMTaskPositions.h.

Constructor & Destructor Documentation

◆ OMTaskPositions() [1/3]

Rcs::OMTaskPositions::OMTaskPositions ( Task * task )

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

Definition at line 42 of file OMTaskPositions.cpp.

◆ ~OMTaskPositions()

Rcs::OMTaskPositions::~OMTaskPositions ( )

virtual

Definition at line 44 of file OMTaskPositions.cpp.

◆ OMTaskPositions() [2/3]

Rcs::OMTaskPositions::OMTaskPositions ( const OMTaskPositions & )

delete

◆ OMTaskPositions() [3/3]

Rcs::OMTaskPositions::OMTaskPositions ( OMTaskPositions && )

delete

Member Function Documentation

◆ computeObservation()

void Rcs::OMTaskPositions::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 59 of file OMTaskPositions.cpp.

◆ getLimits()

void Rcs::OMTaskPositions::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 64 of file OMTaskPositions.cpp.

◆ getStateDim()

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

virtual

The number of state variables.

Implements Rcs::ObservationModel.

Definition at line 49 of file OMTaskPositions.cpp.

◆ getStateNames()

std::vector< std::string > Rcs::OMTaskPositions::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 72 of file OMTaskPositions.cpp.

◆ getTask()

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

inline

Return the wrapped Rcs Task.

Definition at line 92 of file OMTaskPositions.h.

◆ getVelocityDim()

unsigned int Rcs::OMTaskPositions::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 54 of file OMTaskPositions.cpp.

◆ initTaskBodyNames()

void Rcs::OMTaskPositions::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 129 of file OMTaskPositions.cpp.

◆ operator=() [1/2]

OMTaskPositions& Rcs::OMTaskPositions::operator= ( OMTaskPositions && )

delete

◆ operator=() [2/2]

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

delete

◆ setMaxState() [1/2]

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

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

Definition at line 112 of file OMTaskPositions.cpp.

◆ setMaxState() [2/2]

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

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

Definition at line 120 of file OMTaskPositions.cpp.

◆ setMinState() [1/2]

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

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

Definition at line 95 of file OMTaskPositions.cpp.

◆ setMinState() [2/2]

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

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

Definition at line 103 of file OMTaskPositions.cpp.

Member Data Documentation

◆ task

Task* Rcs::OMTaskPositions::task

private

Wrapped task object (owned!)

Definition at line 109 of file OMTaskPositions.h.

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

src/cpp/core/observation/OMTaskPositions.h
src/cpp/core/observation/OMTaskPositions.cpp

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ OMTaskPositions() [1/3]

◆ ~OMTaskPositions()

◆ OMTaskPositions() [2/3]

◆ OMTaskPositions() [3/3]

Member Function Documentation

◆ computeObservation()

◆ getLimits()

◆ getStateDim()

◆ getStateNames()

◆ getTask()

◆ getVelocityDim()

◆ initTaskBodyNames()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setMaxState() [1/2]

◆ setMaxState() [2/2]

◆ setMinState() [1/2]

◆ setMinState() [2/2]

Member Data Documentation

◆ task