Classes
class	ActionModel

class	ActionModelIK

class	AMDynamicalSystemActivation

class	AMIKControllerActivation

class	AMIKGeneric

class	AMIntegrate1stOrder

class	AMIntegrate2ndOrder

class	AMJointControl

class	AMJointControlAcceleration

class	AMJointControlPosition

class	AMNormalized

class	AMPlateAngPos

class	AMPlatePos5D

struct	BodyParamInfo

class	BoxSpace

class	BoxSpaceProvider

class	ComponentViewer

class	ControlPolicy

class	ControlPolicyRegistration

class	DataLogger

class	DSConst

class	DSLinear

class	DSMassSpringDamper

class	DSMassSpringDamperNonlinear

class	DSSecondOrder

class	DSSlice

class	DynamicalSystem

class	ECBallInTube

class	ECBallOnPlate

class	ECBoxLifting

class	ECBoxShelving

class	ECMiniGolf

class	ECMPblending

class	ECPlanar3Link

class	ECPlanarInsert

class	ECQuanserQube

class	EmptyPropertySource

class	ExperimentConfig

class	ExperimentConfigRegistration

class	ForceDisturber

class	InitStateSetter

class	ISSBallInTube

class	ISSBallOnPlate

class	ISSBoxLifting

class	ISSBoxShelving

class	ISSMiniGolf

class	ISSMPBlending

class	ISSPlanar3Link

class	ISSPlanarInsert

class	ISSQuanserQube

class	JointLimitException

class	LockedFTS

class	ObservationModel

class	OMBallPos

class	OMBodyStateAngular

class	OMBodyStateAngularPositions

class	OMBodyStateLinear

class	OMBodyStateLinearPositions

class	OMCollisionCost

class	OMCollisionCostPrediction

class	OMCombined

class	OMComputedVelocity

class	OMDynamicalSystemDiscrepancy

class	OMDynamicalSystemGoalDistance

class	OMForceTorque

class	OMJointState

class	OMJointStatePositions

class	OMManipulabilityIndex

class	OMNormalized

class	OMPartial

class	OMTask

class	OMTaskPositions

class	OMTaskSpaceDiscrepancy

class	PhysicsParameterDescriptor

class	PhysicsParameterManager

class	PhysicsSimulationComponent

class	PolicyComponent

class	PPDBodyOrientation

class	PPDBodyPosition

class	PPDBoxExtents

class	PPDCompound

class	PPDCubeExtents

class	PPDMassProperties

class	PPDMaterialProperties

class	PPDRodLength

class	PPDSingleVar

class	PPDSphereRadius

class	PropertySink

class	PropertySource

class	PropertySourceDict

class	PropertySourceXml

class	RcsPyBot

class	RcsSimEnv

class	SimpleControlPolicy

class	TorchPolicy

class	ViewerComponent

Typedefs
using	IndexList = OMPartial::IndexList

template<typename M >
using	MatNdMappable = typename std::conditional< M::IsRowMajor\|\|M::IsVectorAtCompileTime, M, Eigen::Matrix< typename M::Scalar, M::RowsAtCompileTime, M::ColsAtCompileTime, Eigen::RowMajor > >::type

Enumerations
enum	TaskCombinationMethod { TaskCombinationMethod::Sum, TaskCombinationMethod::Mean, TaskCombinationMethod::SoftMax, TaskCombinationMethod::Product }

enum	IntMode { IntMode::ForwardEuler, IntMode::BackwardEuler, IntMode::SymplecticEuler }

Functions
void	MatNd_fabsClipEleSelf (MatNd *self, double negUpperBound, double posLowerBound)

MatNd *	MatNd_signs (const MatNd *src)

static bool	getMatrixProperty (Eigen::MatrixXd &out, PropertySource ps, const char property, unsigned int expectedRows, unsigned int expectedCols)

static bool	getVectorProperty (Eigen::VectorXd &out, PropertySource ps, const char property, unsigned int expectedSize)

	for (auto &name :actionSpace->getNames())

static void	copy_prop_to_xml_attr (xmlNodePtr node, PropertySource source, const char name, const char *xmlName=nullptr)

RcsCollisionMdl *	RcsCollisionModel_createFromConfig (RcsGraph graph, PropertySource config)

static bool	defaultWrapJointAngle (RcsJoint *joint)

static IndexList	loadIndexList (IndexList input, unsigned int dim, bool exclude, const char *category)

static IndexList	loadMask (const std::vector< bool > &mask, unsigned int dim, bool exclude, const char *category)

template<typename T >
static void	apply (T &partial, const T &full, const std::vector< unsigned int > &keptIndices)

void	Vec33d_setZero (double v[3][3])

void	Vec33d_add (double dst[3][3], const double v1[3][3], const double v2[3][3])

void	setVortexLogLevel (const char *level)

static void	initDefaultNames (std::vector< std::string > &out, unsigned int dim)

template<typename M >
MatNd	viewEigen2MatNd (M &src)

template<typename M = Eigen::MatrixXd>
Eigen::Map< MatNdMappable< M > >	viewMatNd2Eigen (MatNd *src)

template<typename M = Eigen::MatrixXd>
Eigen::Map< const MatNdMappable< M > >	viewMatNd2Eigen (const MatNd *src)

template<typename M >
void	copyMatNd2Eigen (M &dst, const MatNd *src)

template<typename M >
void	copyEigen2MatNd (MatNd *dst, const M &src)

void	intStep2ndOrder (MatNd x, MatNd xd, const MatNd *xdd, double dt, IntMode mode)

void	intStep1stOrder (MatNd x, const MatNd xd_0, const MatNd *xd_T, double dt, IntMode mode)

template<typename ... Args>
std::string	string_format (const std::string &format, Args ... args)

static std::string	spaceJoinedString (py::handle iterable)

static xmlNodePtr	dict2xml (const py::dict &data, xmlDocPtr doc, const char *nodeName)

Variables
const unsigned int	PLATE_TASK_DIM = 6

static std::map< std::string, ControlPolicy::ControlPolicyCreateFunction >	registry

static ControlPolicyRegistration< TorchPolicy >	RegTorchPolicy ("torch")

static ExperimentConfigRegistration< ECBallInTube >	RegBallInTube ("BallInTube")

static ExperimentConfigRegistration< ECBallOnPlate >	RegBallOnPlate ("BallOnPlate")

static ExperimentConfigRegistration< ECBoxLifting >	RegBoxLifting ("BoxLifting")

static ExperimentConfigRegistration< ECBoxShelving >	RegBoxShelving ("BoxShelving")

static ExperimentConfigRegistration< ECMiniGolf >	RegMiniGolf ("MiniGolf")

static ExperimentConfigRegistration< ECMPblending >	RegMPBlending ("MPBlending")

static ExperimentConfigRegistration< ECPlanar3Link >	RegPlanar3Link ("Planar3Link")

static ExperimentConfigRegistration< ECPlanarInsert >	RegPlanarInsert ("PlanarInsert")

static ExperimentConfigRegistration< ECQuanserQube >	RegQuanserQube ("QuanserQube")

static std::map< std::string, ExperimentConfig::ExperimentConfigCreateFunction >	registry

static const char *	extended_xml_material_props []

Detailed Description

Value freeRatio is the ratio of the joint's half range in which the joint limit gradient kicks in. For instance if freeRatio is 1, the whole joint range is without gradient. If freeRatio is 0, the gradient follows a quadratic cost over the whole range.

Value freeRange is the range starting from q0, where the gradient is 0. The value penaltyRange is the range where the gradient is not 0. Here is an illustration:

q_lowerLimit q_lowerRange q_0 q_upperRange q_upperLimit | | | | | | | | | | __________________/__________/____________/_______________/ a b c d

freeRatio: b/(a+b) c/(c+d) freeRange: b c penaltyRange: a d

cost = q in a: 0.5 * wJL * ((q-q_lowerRange)/a)^2 => c(limit) = 0.5*wJL q in b: 0 q in c: 0 q in d: 0.5 * wJL * ((q-q_upperRange)/d)^2 => c(limit) = 0.5*wJL

gradient = q in a: (q-q_lowerRange)*wJL/a^2 => grad(limit) = 0.5*wJL/a q in b: 0 q in c: 0 q in d: (q-q_upperRange)*wJL/a^2 => grad(limit) = 0.5*wJL/d

For the default case wJL=1 and freeRange=0, we get: dH_i = 0.5/halfRange and for symmetric joint centers, we get: dH_i = 1.0/range If we interpret it as a velocity, it's the inverse of the joint range.

Typedef Documentation

◆ IndexList

using Rcs::IndexList = typedef OMPartial::IndexList

Definition at line 41 of file OMPartial.cpp.

◆ MatNdMappable

template<typename M >

using Rcs::MatNdMappable = typedef typename std::conditional< M::IsRowMajor || M::IsVectorAtCompileTime, M, Eigen::Matrix< typename M::Scalar, M::RowsAtCompileTime, M::ColsAtCompileTime, Eigen::RowMajor> >::type

Definition at line 74 of file eigen_matnd.h.

Enumeration Type Documentation

◆ IntMode

enum Rcs::IntMode

strong

Integration mode.

Enumerator
ForwardEuler
BackwardEuler
SymplecticEuler

Definition at line 42 of file integrator.h.

◆ TaskCombinationMethod

enum Rcs::TaskCombinationMethod

strong

Combination method for tasks a.k.a. movement primitives Determines how the contribution of each task is scaled with its activation.

Enumerator
Sum
Mean
SoftMax
Product

Definition at line 46 of file ActionModel.h.

Function Documentation

◆ apply()

template<typename T >

static void Rcs::apply	(	T &	partial,
		const T &	full,
		const std::vector< unsigned int > &	keptIndices
	)

static

Definition at line 182 of file OMPartial.cpp.

◆ copy_prop_to_xml_attr()

static void Rcs::copy_prop_to_xml_attr	(	xmlNodePtr	node,
		PropertySource *	source,
		const char *	name,
		const char *	xmlName = `nullptr`
	)

inlinestatic

Definition at line 54 of file ExperimentConfig.cpp.

◆ copyEigen2MatNd()

template<typename M >

void Rcs::copyEigen2MatNd	(	MatNd *	dst,
		const M &	src
	)

Copy a matrix from Eigen to Rcs.

Template Parameters

M	eigen matrix type

Parameters

dst	destination rcs matrix
src	source eigen matrix

Definition at line 132 of file eigen_matnd.h.

◆ copyMatNd2Eigen()

template<typename M >

void Rcs::copyMatNd2Eigen	(	M &	dst,
		const MatNd *	src
	)

Copy a matrix from Rcs to Eigen.

Template Parameters

M	eigen matrix type

Parameters

dst	destination eigen matrix
src	source rcs matrix

Definition at line 120 of file eigen_matnd.h.

◆ defaultWrapJointAngle()

static bool Rcs::defaultWrapJointAngle ( RcsJoint * joint )

static

Definition at line 48 of file OMJointState.cpp.

◆ dict2xml()

static xmlNodePtr Rcs::dict2xml	(	const py::dict &	data,
		xmlDocPtr	doc,
		const char *	nodeName
	)

static

Definition at line 362 of file PropertySourceDict.cpp.

◆ for()

Rcs::for ( auto &name :actionSpace-> getNames() )

Definition at line 85 of file DataLogger.cpp.

◆ getMatrixProperty()

static bool Rcs::getMatrixProperty	(	Eigen::MatrixXd &	out,
		PropertySource *	ps,
		const char *	property,
		unsigned int	expectedRows,
		unsigned int	expectedCols
	)

static

Get an Eigen matrix value from a config entry.

Converts the config value to a MatNd, checks the dimensions, and copies the contents into the output reference.

Parameters

[out]	out	storage for read value.
[in]	ps	Property source to load from.
[in]	property	property name
[in]	expectedRows	Required row count.
[in]	expectedCols	Required column count.

Exceptions

std::invalid_argument if the matrix dimensions do not match.

Definition at line 56 of file DynamicalSystem.cpp.

◆ getVectorProperty()

static bool Rcs::getVectorProperty	(	Eigen::VectorXd &	out,
		PropertySource *	ps,
		const char *	property,
		unsigned int	expectedSize
	)

static

Get an Eigen vector value from a config entry.

Converts the config value to a MatNd, checks the dimensions, and copies the contents into the output reference.

Parameters

[out]	out	storage for read value.
[in]	ps	Property source to load from.
[in]	property	property name
[in]	expectedSize	Required element count.

Exceptions

std::invalid_argument if the matrix dimensions do not match.

Definition at line 95 of file DynamicalSystem.cpp.

◆ initDefaultNames()

static void Rcs::initDefaultNames	(	std::vector< std::string > &	out,
		unsigned int	dim
	)

static

Definition at line 41 of file BoxSpace.cpp.

◆ intStep1stOrder()

void Rcs::intStep1stOrder	(	MatNd *	x,
		const MatNd *	xd_0,
		const MatNd *	xd_T,
		double	dt,
		IntMode	mode
	)

First order integration function.

Parameters

[in,out]	x	current value matrix, updated with new value.
[in]	xd_0	first derivative matrix at current timestep to integrate. Used by ForwardEuler.
[in]	xd_T	first derivative matrix at next timestep to integrate. Used by BackwardEuler.
	dt	timestep length in seconds
	mode	ForwardEuler or BackwardEuler

Definition at line 65 of file integrator.cpp.

◆ intStep2ndOrder()

void Rcs::intStep2ndOrder	(	MatNd *	x,
		MatNd *	xd,
		const MatNd *	xdd,
		double	dt,
		IntMode	mode
	)

Second order integration function.

Parameters

[in,out]	x	current value matrix, updated with new value.
[in,out]	xd	current first derivative value matrix, updated with new value.
[in]	xdd	second derivative matrix to integrate
	dt	timestep length in seconds
	mode	ForwardEuler or SymplecticEuler

Definition at line 38 of file integrator.cpp.

◆ loadIndexList()

static IndexList Rcs::loadIndexList	(	IndexList	input,
		unsigned int	dim,
		bool	exclude,
		const char *	category
	)

static

Definition at line 44 of file OMPartial.cpp.

◆ loadMask()

static IndexList Rcs::loadMask	(	const std::vector< bool > &	mask,
		unsigned int	dim,
		bool	exclude,
		const char *	category
	)

static

Definition at line 73 of file OMPartial.cpp.

◆ MatNd_fabsClipEleSelf()

void Rcs::MatNd_fabsClipEleSelf	(	MatNd *	self,
		double	negUpperBound,
		double	posLowerBound
	)

Definition at line 42 of file AMIKControllerActivation.cpp.

◆ MatNd_signs()

MatNd* Rcs::MatNd_signs ( const MatNd * src )

Definition at line 58 of file AMIKControllerActivation.cpp.

◆ RcsCollisionModel_createFromConfig()

RcsCollisionMdl * Rcs::RcsCollisionModel_createFromConfig	(	RcsGraph *	graph,
		Rcs::PropertySource *	config
	)

Create a collision model using the settings from the given RcsPySim config.

Parameters

graph	graph to observe
config	collision configuration

Returns: new collision model

Exceptions

std::invalid_argument if the collision model could not be created.

Definition at line 67 of file ExperimentConfig.cpp.

◆ setVortexLogLevel()

void Rcs::setVortexLogLevel ( const char * level )

Set Vortex' log level if vortex is installed.

Definition at line 80 of file vortex_log.cpp.

◆ spaceJoinedString()

static std::string Rcs::spaceJoinedString ( py::handle iterable )

static

Definition at line 346 of file PropertySourceDict.cpp.

◆ string_format()

template<typename ... Args>

std::string Rcs::string_format	(	const std::string &	format,
		Args ...	args
	)

Definition at line 45 of file string_format.h.

◆ Vec33d_add()

void Rcs::Vec33d_add	(	double	dst[3][3],
		const double	v1[3][3],
		const double	v2[3][3]
	)

Definition at line 52 of file PPDBodyOrientation.cpp.

◆ Vec33d_setZero()

void Rcs::Vec33d_setZero ( double v[3][3] )

Definition at line 43 of file PPDBodyOrientation.cpp.

◆ viewEigen2MatNd()

template<typename M >

MatNd Rcs::viewEigen2MatNd ( M & src )

View an eigen matrix as Rcs MatNd.

Template Parameters

M	eigen matrix type

Parameters

src	eigen matrix

Returns: MatNd struct referencing the data of src.

Definition at line 48 of file eigen_matnd.h.

◆ viewMatNd2Eigen() [1/2]

template<typename M = Eigen::MatrixXd>

Eigen::Map<MatNdMappable<M> > Rcs::viewMatNd2Eigen ( MatNd * src )

Wrap a Rcs MatNd in a mutable Eigen Map object.

If M is column major, the resulting map will still wrap a row major matrix, since that is the storage order of MatNd.

Template Parameters

M	desired eigen matrix type

Parameters

src	rcs matrix

Returns: Eigen::Map referencing the data of src.

Definition at line 88 of file eigen_matnd.h.

◆ viewMatNd2Eigen() [2/2]

template<typename M = Eigen::MatrixXd>

Eigen::Map<const MatNdMappable<M> > Rcs::viewMatNd2Eigen ( const MatNd * src )

Wrap a read-only Rcs MatNd in a const Eigen Map object.

If M is column major, the resulting map will still wrap a row major matrix, since that is the storage order of MatNd.

Template Parameters

M	desired eigen matrix type

Parameters

src	rcs matrix

Returns: Eigen::Map referencing the data of src.

Definition at line 106 of file eigen_matnd.h.

Variable Documentation

◆ extended_xml_material_props

const char* Rcs::extended_xml_material_props[]

static

Initial value:

= {
    "compliance",
}

Definition at line 40 of file PPDMaterialProperties.cpp.

◆ PLATE_TASK_DIM

const unsigned int Rcs::PLATE_TASK_DIM = 6

Definition at line 44 of file AMPlatePos5D.cpp.

◆ RegBallInTube

ExperimentConfigRegistration<ECBallInTube> Rcs::RegBallInTube("BallInTube")

static

◆ RegBallOnPlate

ExperimentConfigRegistration<ECBallOnPlate> Rcs::RegBallOnPlate("BallOnPlate")

static

◆ RegBoxLifting

ExperimentConfigRegistration<ECBoxLifting> Rcs::RegBoxLifting("BoxLifting")

static

◆ RegBoxShelving

ExperimentConfigRegistration<ECBoxShelving> Rcs::RegBoxShelving("BoxShelving")

static

◆ registry [1/2]

std::map<std::string, ControlPolicy::ControlPolicyCreateFunction> Rcs::registry

static

Definition at line 44 of file ControlPolicy.cpp.

◆ registry [2/2]

std::map<std::string, ExperimentConfig::ExperimentConfigCreateFunction> Rcs::registry

static

Definition at line 144 of file ExperimentConfig.cpp.

◆ RegMiniGolf

ExperimentConfigRegistration<ECMiniGolf> Rcs::RegMiniGolf("MiniGolf")

static

◆ RegMPBlending

ExperimentConfigRegistration<ECMPblending> Rcs::RegMPBlending("MPBlending")

static

◆ RegPlanar3Link

ExperimentConfigRegistration<ECPlanar3Link> Rcs::RegPlanar3Link("Planar3Link")

static

◆ RegPlanarInsert

ExperimentConfigRegistration<ECPlanarInsert> Rcs::RegPlanarInsert("PlanarInsert")

static

◆ RegQuanserQube

ExperimentConfigRegistration<ECQuanserQube> Rcs::RegQuanserQube("QuanserQube")

static

◆ RegTorchPolicy

ControlPolicyRegistration<TorchPolicy> Rcs::RegTorchPolicy("torch")

static

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ IndexList

◆ MatNdMappable

Enumeration Type Documentation

◆ IntMode

◆ TaskCombinationMethod

Function Documentation

◆ apply()

◆ copy_prop_to_xml_attr()

◆ copyEigen2MatNd()

◆ copyMatNd2Eigen()

◆ defaultWrapJointAngle()

◆ dict2xml()

◆ for()

◆ getMatrixProperty()

◆ getVectorProperty()

◆ initDefaultNames()

◆ intStep1stOrder()

◆ intStep2ndOrder()

◆ loadIndexList()

◆ loadMask()

◆ MatNd_fabsClipEleSelf()

◆ MatNd_signs()

◆ RcsCollisionModel_createFromConfig()

◆ setVortexLogLevel()

◆ spaceJoinedString()

◆ string_format()

◆ Vec33d_add()

◆ Vec33d_setZero()

◆ viewEigen2MatNd()

◆ viewMatNd2Eigen() [1/2]

◆ viewMatNd2Eigen() [2/2]

Variable Documentation

◆ extended_xml_material_props

◆ PLATE_TASK_DIM

◆ RegBallInTube

◆ RegBallOnPlate

◆ RegBoxLifting

◆ RegBoxShelving

◆ registry [1/2]

◆ registry [2/2]

◆ RegMiniGolf

◆ RegMPBlending

◆ RegPlanar3Link

◆ RegPlanarInsert

◆ RegQuanserQube

◆ RegTorchPolicy