#include <ObservationModel.h>

Inheritance diagram for Rcs::ObservationModel:

[legend]

Collaboration diagram for Rcs::ObservationModel:

Classes
struct	Offsets

Public Member Functions
virtual	~ObservationModel ()

MatNd *	computeObservation (const MatNd *currentAction, double dt) const

void	computeObservation (MatNd observation, const MatNd currentAction, double dt) const

virtual unsigned int	getStateDim () const =0

virtual unsigned int	getVelocityDim () const

virtual void	computeObservation (double state, double velocity, const MatNd *currentAction, double dt) const =0

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 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

Detailed Description

The ObservationModel encapsulates the computation of the state vector from the current graph state.

Definition at line 45 of file ObservationModel.h.

Constructor & Destructor Documentation

◆ ~ObservationModel()

Rcs::ObservationModel::~ObservationModel ( )

virtualdefault

Member Function Documentation

◆ computeObservation() [1/3]

MatNd * Rcs::ObservationModel::computeObservation	(	const MatNd *	currentAction,
		double	dt
	)		const

Create a MatNd for the observation vector, fill it using computeObservation and return it. The caller must take ownership of the returned matrix.

Parameters

[in]	currentAction	action in current step. May be NULL if not available.
[in]	dt	time step since the last observation has been taken

Returns: a new observation vector

Definition at line 45 of file ObservationModel.cpp.

◆ computeObservation() [2/3]

void Rcs::ObservationModel::computeObservation	(	MatNd *	observation,
		const MatNd *	currentAction,
		double	dt
	)		const

Fill the given matrix with observation data.

Parameters

[out]	observation	observation output vector
[in]	currentAction	action in current step. May be NULL if not available.
[in]	dt	time step since the last observation has been taken

Definition at line 52 of file ObservationModel.cpp.

◆ computeObservation() [3/3]

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

pure 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

Implemented in Rcs::OMPartial, Rcs::OMJointState, Rcs::OMNormalized, Rcs::OMTaskSpaceDiscrepancy, Rcs::OMForceTorque, Rcs::OMManipulabilityIndex, Rcs::OMDynamicalSystemGoalDistance, Rcs::OMCombined, Rcs::OMDynamicalSystemDiscrepancy, Rcs::OMTaskPositions, Rcs::OMTask, Rcs::OMBallPos, Rcs::OMCollisionCostPrediction, Rcs::OMComputedVelocity, and Rcs::OMCollisionCost.

◆ findModel()

template<typename OM >

OM* Rcs::ObservationModel::findModel ( )

inline

Find a nested observation model of a specified type. If multiple observation models match, the first found in depth-first search order is returned.

Template Parameters

OM	observation model type to find

Returns: nested observation model or NULL if not found.

Definition at line 145 of file ObservationModel.h.

◆ findOffsets()

template<typename OM >

Offsets Rcs::ObservationModel::findOffsets ( )

inline

Find a nested observation model of a specified type. If multiple observation models match, the first found in depth-first search order is returned. NOTE: the positions and velovities are done separately. In order to correct for masked state observations use observationModel->getStateDim() + thisOM.vel + i to get the index.

Template Parameters

OM	observation model type to find

Returns: nested observation model or NULL if not found.

Definition at line 181 of file ObservationModel.h.

◆ getDim()

unsigned int Rcs::ObservationModel::getDim ( ) const

finalvirtual

The number of observed variables is twice the number of state variables. Delegates to getStateDim.

Implements Rcs::BoxSpaceProvider.

Definition at line 110 of file ObservationModel.cpp.

◆ getLimits()

void Rcs::ObservationModel::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 in Rcs::OMPartial, Rcs::OMJointState, Rcs::OMNormalized, Rcs::OMForceTorque, Rcs::OMTaskSpaceDiscrepancy, Rcs::OMDynamicalSystemGoalDistance, Rcs::OMCombined, Rcs::OMTaskPositions, Rcs::OMTask, Rcs::OMCollisionCostPrediction, and Rcs::OMCollisionCost.

Definition at line 70 of file ObservationModel.cpp.

◆ getMinMax()

void Rcs::ObservationModel::getMinMax	(	double *	min,
		double *	max
	)		const

finalvirtual

Provides the minimum and maximum observable values. Delegates to getLimits.

Implements Rcs::BoxSpaceProvider.

Definition at line 116 of file ObservationModel.cpp.

◆ getNames()

std::vector< std::string > Rcs::ObservationModel::getNames ( ) const

finalvirtual

The velocity names are the state names postfixed with 'd'. Delegates to getStateNames.

Reimplemented from Rcs::BoxSpaceProvider.

Definition at line 129 of file ObservationModel.cpp.

◆ getNested()

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

virtual

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

Reimplemented in Rcs::OMPartial, Rcs::OMNormalized, and Rcs::OMCombined.

Definition at line 138 of file ObservationModel.cpp.

◆ getStateDim()

virtual unsigned int Rcs::ObservationModel::getStateDim ( ) const

pure virtual

The number of state variables.

Implemented in Rcs::OMPartial, Rcs::OMJointState, Rcs::OMNormalized, Rcs::OMTaskSpaceDiscrepancy, Rcs::OMForceTorque, Rcs::OMManipulabilityIndex, Rcs::OMDynamicalSystemGoalDistance, Rcs::OMCombined, Rcs::OMDynamicalSystemDiscrepancy, Rcs::OMTask, Rcs::OMTaskPositions, Rcs::OMCollisionCostPrediction, and Rcs::OMCollisionCost.

◆ getStateNames()

std::vector< std::string > Rcs::ObservationModel::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 in Rcs::OMPartial, Rcs::OMJointState, Rcs::OMNormalized, Rcs::OMTaskSpaceDiscrepancy, Rcs::OMForceTorque, Rcs::OMCombined, Rcs::OMDynamicalSystemGoalDistance, Rcs::OMDynamicalSystemDiscrepancy, Rcs::OMManipulabilityIndex, Rcs::OMTaskPositions, Rcs::OMTask, Rcs::OMCollisionCostPrediction, and Rcs::OMCollisionCost.

Definition at line 78 of file ObservationModel.cpp.

◆ getVelocityDim()

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

virtual

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

Reimplemented in Rcs::OMPartial, Rcs::OMJointStatePositions, Rcs::OMJointState, Rcs::OMNormalized, Rcs::OMTaskSpaceDiscrepancy, Rcs::OMForceTorque, Rcs::OMManipulabilityIndex, Rcs::OMDynamicalSystemGoalDistance, Rcs::OMCombined, Rcs::OMDynamicalSystemDiscrepancy, Rcs::OMTaskPositions, Rcs::OMCollisionCostPrediction, and Rcs::OMCollisionCost.

Definition at line 63 of file ObservationModel.cpp.

◆ getVelocityNames()

std::vector< std::string > Rcs::ObservationModel::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 in Rcs::OMPartial, Rcs::OMNormalized, and Rcs::OMCombined.

Definition at line 92 of file ObservationModel.cpp.

◆ reset()

void Rcs::ObservationModel::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 in Rcs::OMPartial, Rcs::OMNormalized, Rcs::OMTaskSpaceDiscrepancy, Rcs::OMCombined, Rcs::OMDynamicalSystemDiscrepancy, Rcs::OMBallPos, and Rcs::OMComputedVelocity.

Definition at line 58 of file ObservationModel.cpp.

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

src/cpp/core/observation/ObservationModel.h
src/cpp/core/observation/ObservationModel.cpp

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~ObservationModel()

Member Function Documentation

◆ computeObservation() [1/3]

◆ computeObservation() [2/3]

◆ computeObservation() [3/3]

◆ findModel()

◆ findOffsets()

◆ getDim()

◆ getLimits()

◆ getMinMax()

◆ getNames()

◆ getNested()

◆ getStateDim()

◆ getStateNames()

◆ getVelocityDim()

◆ getVelocityNames()

◆ reset()