#include <GaussianProcessTrajectory.h>

Inheritance diagram for ocra::GaussianProcessTrajectory:

Collaboration diagram for ocra::GaussianProcessTrajectory:

Public Member Functions
Eigen::MatrixXd	getDesiredValues (double time)

Eigen::VectorXd	getVariance (double time)

void	getDesiredValues (double time, Eigen::MatrixXd &desiredValues, Eigen::VectorXd &variance)

void	addWaypoint (const Eigen::VectorXd newWaypoint, const double waypointTime)

void	addWaypoint (const Eigen::VectorXd newWaypoint, const double waypointTime, const Eigen::VectorXi &dofToOpt, const bool useForMean=true, const bool useForVar=true, const bool useForOpt=true)

void	removeWaypoint (int index)

bool	setMeanWaypoints (boolVector &bMeanVec)

bool	setVarianceWaypoints (boolVector &bVarVec)

bool	setOptimizationWaypoints (boolVector &bOptVec)

bool	setDofToOptimize (std::vector< Eigen::VectorXi > &dofToOptVec)

void	printWaypointData ()

Eigen::MatrixXd	getWaypointData ()

Eigen::MatrixXd	getMeanGPData ()

Eigen::MatrixXd	getVarGPData ()

Eigen::VectorXd	getBoptVariables (const int extraPointsToAdd=0, std::vector< Eigen::VectorXi > dofToOptVec=std::vector< Eigen::VectorXi >())

Eigen::MatrixXd	getBoptCovarianceMatrix ()

Eigen::VectorXd	getBoptSearchSpaceMinBound ()

Eigen::VectorXd	getBoptSearchSpaceMaxBound ()

bool	setBoptVariables (const Eigen::VectorXd &newOptVariables)

void	saveTrajectoryToFile (const std::string dirPath="./")

void	saveWaypointDataToFile (const std::string dirPath="./")

double	getMaxVariance ()

Eigen::VectorXd	getMaxCovarianceVector ()

double	getVarianceLengthParameter ()

double	getMeanTime ()

double	getDuration ()

Public Member Functions inherited from ocra::Trajectory
	Trajectory ()

void	setMaxVelocity (double newMaxVel)

void	setMaxVelocity (const Eigen::VectorXd &newMaxVel)

double	getMaxVelocity ()

Eigen::VectorXd	getMaxVelocityVector ()

void	setMaxAcceleration (double newMaxAcc)

void	setMaxAcceleration (const Eigen::VectorXd &newMaxAcc)

double	getMaxAcceleration ()

Eigen::VectorXd	getMaxAccelerationVector ()

void	setWaypoints (const std::vector< double > &startingDoubleVec, const std::vector< double > &endingDoubleVec, const int waypointSelector=0, bool endsWithQuaternion=false)

void	setWaypoints (const Eigen::VectorXd &startingVector, const Eigen::VectorXd &endingVector, bool endsWithQuaternion=false)

void	setWaypoints (Eigen::Displacementd &startingDisplacement, Eigen::Displacementd &endingDisplacement, bool endsWithQuaternion=true)

void	setWaypoints (Eigen::Rotation3d &startingOrientation, Eigen::Rotation3d &endingOrientation, bool endsWithQuaternion=true)

void	setWaypoints (const std::list< Eigen::VectorXd > &_waypoints, bool _endsWithQuaternion=false)

void	setWaypoints (Eigen::MatrixXd &waypoints, bool endsWithQuaternion=false)

virtual	~Trajectory ()

void	setDuration ()

void	setDuration (const Eigen::VectorXd &_pointToPointDurationVector)

void	setDuration (double time)

bool	isFinished ()

Eigen::MatrixXd	getFullTrajectory (double dt=0.01)

void	getDesiredValues (double time, std::vector< double > &doubleVec)

void	getDesiredValues (double time, Eigen::Displacementd &disp)

void	getDesiredValues (double time, Eigen::Rotation3d &orient)

void	getDesiredValues (double time, Eigen::Displacementd &pos, Eigen::Twistd &vel, Eigen::Twistd &acc)

Eigen::Rotation3d	quaternionSlerp (double tau, Eigen::Rotation3d &qStart, Eigen::Rotation3d &qEnd)

Eigen::VectorXd	displacementToEigenVector (Eigen::Displacementd &disp)

Eigen::VectorXd	quaternionToEigenVector (Eigen::Rotation3d &quat)

bool	eigenVectorToStdVector (const Eigen::VectorXd &dispVec, std::vector< double > &doubleVec)

bool	eigenMatrixToStdVector (const Eigen::MatrixXd &dispMat, std::vector< double > &doubleVec)

bool	eigenVectorToDisplacement (const Eigen::VectorXd &dispVec, Eigen::Displacementd &disp)

bool	eigenVectorToQuaternion (const Eigen::VectorXd &quatVec, Eigen::Rotation3d &quat)

bool	eigenVectorToTwist (const Eigen::VectorXd &twistVec, Eigen::Twistd &twist)

virtual void	recalculateTrajectory ()

Protected Member Functions
virtual void	initializeTrajectory ()

Additional Inherited Members
Protected Attributes inherited from ocra::Trajectory
double	maximumVelocity

Eigen::VectorXd	maximumVelocityVector

double	maximumAcceleration

Eigen::VectorXd	maximumAccelerationVector

std::list< Eigen::VectorXd >	waypointList

Eigen::MatrixXd	waypoints

int	nDoF

int	nWaypoints

bool	endsWithQuaternion

bool	startTrigger

int	currentWaypointIndex

int	nonRotationDof

Eigen::VectorXd	pointToPointDurationVector

double	pointToPointDuration

double	totalTrajectoryDuration

bool	usingDurationVector

bool	trajectoryFinished

Detailed Description

Definition at line 18 of file GaussianProcessTrajectory.h.

Member Function Documentation

void ocra::GaussianProcessTrajectory::addWaypoint	(	const Eigen::VectorXd	newWaypoint,
		const double	waypointTime
	)

Definition at line 422 of file GaussianProcessTrajectory.cpp.

void ocra::GaussianProcessTrajectory::addWaypoint	(	const Eigen::VectorXd	newWaypoint,
		const double	waypointTime,
		const Eigen::VectorXi &	dofToOpt,
		const bool	useForMean = `true`,
		const bool	useForVar = `true`,
		const bool	useForOpt = `true`
	)

Definition at line 427 of file GaussianProcessTrajectory.cpp.

Eigen::MatrixXd ocra::GaussianProcessTrajectory::getBoptCovarianceMatrix ( )

Definition at line 489 of file GaussianProcessTrajectory.cpp.

Eigen::VectorXd ocra::GaussianProcessTrajectory::getBoptSearchSpaceMaxBound ( )

Definition at line 582 of file GaussianProcessTrajectory.cpp.

Eigen::VectorXd ocra::GaussianProcessTrajectory::getBoptSearchSpaceMinBound ( )

Definition at line 534 of file GaussianProcessTrajectory.cpp.

Eigen::VectorXd ocra::GaussianProcessTrajectory::getBoptVariables	(	const int	extraPointsToAdd = `0`,
		std::vector< Eigen::VectorXi >	dofToOptVec = `std::vector<Eigen::VectorXi>()`
	)

Definition at line 632 of file GaussianProcessTrajectory.cpp.

Eigen::MatrixXd ocra::GaussianProcessTrajectory::getDesiredValues ( double time )

virtual

For details on the analytical point to point min-jerk formulation see: http://www.jneurosci.org/content/5/7/1688.full.pdf http://shadmehrlab.org/book/minimum_jerk/minimumjerk.htm

Reimplemented from ocra::Trajectory.

Definition at line 300 of file GaussianProcessTrajectory.cpp.

void ocra::GaussianProcessTrajectory::getDesiredValues	(	double	time,
		Eigen::MatrixXd &	desiredValues,
		Eigen::VectorXd &	variance
	)

virtual

Reimplemented from ocra::Trajectory.

Definition at line 385 of file GaussianProcessTrajectory.cpp.

double ocra::GaussianProcessTrajectory::getDuration ( )

inlinevirtual

Reimplemented from ocra::Trajectory.

Definition at line 62 of file GaussianProcessTrajectory.h.

Eigen::VectorXd ocra::GaussianProcessTrajectory::getMaxCovarianceVector ( )

inline

Definition at line 59 of file GaussianProcessTrajectory.h.

double ocra::GaussianProcessTrajectory::getMaxVariance ( )

inline

Definition at line 58 of file GaussianProcessTrajectory.h.

Eigen::MatrixXd ocra::GaussianProcessTrajectory::getMeanGPData ( )

Definition at line 402 of file GaussianProcessTrajectory.cpp.

double ocra::GaussianProcessTrajectory::getMeanTime ( )

inline

Definition at line 61 of file GaussianProcessTrajectory.h.

Eigen::MatrixXd ocra::GaussianProcessTrajectory::getVarGPData ( )

Definition at line 412 of file GaussianProcessTrajectory.cpp.

Eigen::VectorXd ocra::GaussianProcessTrajectory::getVariance ( double time )

Definition at line 358 of file GaussianProcessTrajectory.cpp.

double ocra::GaussianProcessTrajectory::getVarianceLengthParameter ( )

inline

Definition at line 60 of file GaussianProcessTrajectory.h.

Eigen::MatrixXd ocra::GaussianProcessTrajectory::getWaypointData ( )

Definition at line 392 of file GaussianProcessTrajectory.cpp.

void ocra::GaussianProcessTrajectory::initializeTrajectory ( )

protectedvirtual

Reimplemented from ocra::Trajectory.

Definition at line 18 of file GaussianProcessTrajectory.cpp.

void ocra::GaussianProcessTrajectory::printWaypointData ( )

Definition at line 51 of file GaussianProcessTrajectory.cpp.

void ocra::GaussianProcessTrajectory::removeWaypoint ( int index )

Definition at line 464 of file GaussianProcessTrajectory.cpp.

void ocra::GaussianProcessTrajectory::saveTrajectoryToFile ( const std::string dirPath = "./" )

Definition at line 815 of file GaussianProcessTrajectory.cpp.

void ocra::GaussianProcessTrajectory::saveWaypointDataToFile ( const std::string dirPath = "./" )

Definition at line 841 of file GaussianProcessTrajectory.cpp.

bool ocra::GaussianProcessTrajectory::setBoptVariables ( const Eigen::VectorXd & newOptVariables )

Definition at line 703 of file GaussianProcessTrajectory.cpp.

bool ocra::GaussianProcessTrajectory::setDofToOptimize ( std::vector< Eigen::VectorXi > & dofToOptVec )

Definition at line 161 of file GaussianProcessTrajectory.cpp.

bool ocra::GaussianProcessTrajectory::setMeanWaypoints ( boolVector & bMeanVec )

Definition at line 87 of file GaussianProcessTrajectory.cpp.

bool ocra::GaussianProcessTrajectory::setOptimizationWaypoints ( boolVector & bOptVec )

Definition at line 140 of file GaussianProcessTrajectory.cpp.

bool ocra::GaussianProcessTrajectory::setVarianceWaypoints ( boolVector & bVarVec )

Definition at line 113 of file GaussianProcessTrajectory.cpp.

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation