DmpContextual.hpp

Go to the documentation of this file.

#ifndef _DMP_CONTEXTUAL_H_
#define _DMP_CONTEXTUAL_H_

#include "dmp/Dmp.hpp"

#include <set>

namespace DmpBbo {

class FunctionApproximator;

class DmpContextual : public Dmp
{
public:
  
  DmpContextual(int n_dims_dmp, std::vector<FunctionApproximator*> function_approximators, DmpType dmp_type);
  
  void set_task_parameters(const Eigen::MatrixXd& task_parameters);

  void set_policy_parameter_function_goal(FunctionApproximator* function_approximator);
  
  void set_policy_parameter_function_duration(FunctionApproximator* function_approximator);
  
  // Overrides Dmp::computeFunctionApproximatorOutput
  virtual void computeFunctionApproximatorOutput(
    const Eigen::Ref<const Eigen::MatrixXd>& phase_state, Eigen::MatrixXd& fa_output) const = 0;

protected:
  
  void  trainLocal(const std::vector<Trajectory>& trajectories, const std::vector<Eigen::MatrixXd>& task_parameters, std::string save_directory, bool overwrite);

public:
  virtual void  train(const std::vector<Trajectory>& trajectories, const std::vector<Eigen::MatrixXd>& task_parameters, std::string save_directory, bool overwrite) = 0;
  
  void train(const std::vector<Trajectory>& trajectories, const std::vector<Eigen::MatrixXd>& task_parameters, std::string save_directory);
  
  void train(const std::vector<Trajectory>& trajectories, const std::vector<Eigen::MatrixXd>& task_parameters);
  
  void train(const std::vector<Trajectory>& trajectories, std::string save_directory, bool overwrite);
  
  void train(const std::vector<Trajectory>& trajectories, std::string save_directory);
  
  void  train(const std::vector<Trajectory>& trajectories);

  

  
protected:
  Eigen::MatrixXd task_parameters_;

  void checkTrainTrajectories(const std::vector<Trajectory>& trajectories);
  
  std::vector<FunctionApproximator*> policy_parameter_function_goal_;
  
  FunctionApproximator* policy_parameter_function_duration_;
  

protected:
   DmpContextual(void) {};

private:
  friend class boost::serialization::access;
  
  template<class Archive>
  void serialize(Archive & ar, const unsigned int version)
  {
    // serialize base class information
    ar & BOOST_SERIALIZATION_BASE_OBJECT_NVP(Dmp);
    
    // Do not archive task_parameters_; these will change constantly, 
    // depending on the task being solved.
  }

};

}

#include <boost/serialization/export.hpp>

BOOST_SERIALIZATION_ASSUME_ABSTRACT(DmpBbo::DmpContextual);
 
BOOST_CLASS_IMPLEMENTATION(DmpBbo::DmpContextual,boost::serialization::object_serializable);

#endif