Dmp.cpp File Reference

Dmp class source file. More...

#include <boost/serialization/export.hpp>
#include <boost/serialization/vector.hpp>
#include <boost/archive/text_iarchive.hpp>
#include <boost/archive/text_oarchive.hpp>
#include <boost/archive/xml_iarchive.hpp>
#include <boost/archive/xml_oarchive.hpp>
#include "dmp/Dmp.hpp"
#include <cmath>
#include <iostream>
#include <fstream>
#include <string>
#include <eigen3/Eigen/Core>
#include "dmp/Trajectory.hpp"
#include "functionapproximators/FunctionApproximator.hpp"
#include "dynamicalsystems/SpringDamperSystem.hpp"
#include "dynamicalsystems/ExponentialSystem.hpp"
#include "dynamicalsystems/TimeSystem.hpp"
#include "dynamicalsystems/SigmoidSystem.hpp"
#include "dmpbbo_io/EigenBoostSerialization.hpp"
#include "dmpbbo_io/BoostSerializationToString.hpp"

Include dependency graph for Dmp.cpp:

Go to the source code of this file.

Macros
#define	SPRING   segment(0*dim_orig()+0,2*dim_orig())
	Extracts all variables of the spring-damper system from a state vector, e.g. More...
#define	SPRING_Y   segment(0*dim_orig()+0,dim_orig())
	Extracts first order variables of the spring-damper system from a state vector, e.g. More...
#define	SPRING_Z   segment(1*dim_orig()+0,dim_orig())
	Extracts second order variables of the spring-damper system from a state vector, e.g. More...
#define	GOAL   segment(2*dim_orig()+0,dim_orig())
	Extracts all variables of the goal from a state vector, e.g. More...
#define	PHASE   segment(3*dim_orig()+0, 1)
	Extracts the phase variable (1-D) from a state vector, e.g. More...
#define	GATING   segment(3*dim_orig()+1, 1)
	Extracts all variables of the gating system from a state vector, e.g. More...
#define	SPRINGM(T)   block(0,0*dim_orig()+0,T,2*dim_orig())
	Extracts first T (time steps) state vectors of the spring-damper system , e.g. More...
#define	SPRINGM_Y(T)   block(0,0*dim_orig()+0,T,dim_orig())
	Extracts first T (time steps) state vectors of the spring-damper system , e.g. More...
#define	SPRINGM_Z(T)   block(0,1*dim_orig()+0,T,dim_orig())
	Extracts first T (time steps) state vectors of the spring-damper system , e.g. More...
#define	GOALM(T)   block(0,2*dim_orig()+0,T,dim_orig())
	Extracts first T (time steps) state vectors of the goal system, e.g. More...
#define	PHASEM(T)   block(0,3*dim_orig()+0,T, 1)
	Extracts first T (time steps) states of the phase system, e.g. More...
#define	GATINGM(T)   block(0,3*dim_orig()+1,T, 1)
	Extracts first T (time steps) state vectors of the gating system, e.g. More...

Functions
	BOOST_CLASS_EXPORT_IMPLEMENT (DmpBbo::Dmp)
	For boost::serialization. More...

Detailed Description

Dmp class source file.

Author

Freek Stulp

This file is part of DmpBbo, a set of libraries and programs for the black-box optimization of dynamical movement primitives. Copyright (C) 2014 Freek Stulp, ENSTA-ParisTech

DmpBbo is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.

DmpBbo is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with DmpBbo. If not, see http://www.gnu.org/licenses/.

Definition in file Dmp.cpp.

Macro Definition Documentation

#define SPRING   segment(0*dim_orig()+0,2*dim_orig())

Extracts all variables of the spring-damper system from a state vector, e.g.

state.SPRING

Definition at line 58 of file Dmp.cpp.

#define SPRING_Y   segment(0*dim_orig()+0,dim_orig())

Extracts first order variables of the spring-damper system from a state vector, e.g.

state.SPRINGM_Y

Definition at line 60 of file Dmp.cpp.

#define SPRING_Z   segment(1*dim_orig()+0,dim_orig())

Extracts second order variables of the spring-damper system from a state vector, e.g.

state.SPRING_Z

Definition at line 62 of file Dmp.cpp.

#define GOAL   segment(2*dim_orig()+0,dim_orig())

Extracts all variables of the goal from a state vector, e.g.

state.GOAL

Definition at line 64 of file Dmp.cpp.

#define PHASE   segment(3*dim_orig()+0, 1)

Extracts the phase variable (1-D) from a state vector, e.g.

state.PHASE

Definition at line 66 of file Dmp.cpp.

#define GATING   segment(3*dim_orig()+1, 1)

Extracts all variables of the gating system from a state vector, e.g.

state.GATING

Definition at line 68 of file Dmp.cpp.

#define SPRINGM

(

T

)

block(0,0*dim_orig()+0,T,2*dim_orig())

Extracts first T (time steps) state vectors of the spring-damper system , e.g.

states.SPRING(100)

Definition at line 71 of file Dmp.cpp.

#define SPRINGM_Y

(

T

)

block(0,0*dim_orig()+0,T,dim_orig())

Extracts first T (time steps) state vectors of the spring-damper system , e.g.

states.SPRINGM_Y(100)

Definition at line 73 of file Dmp.cpp.

#define SPRINGM_Z

(

T

)

block(0,1*dim_orig()+0,T,dim_orig())

Extracts first T (time steps) state vectors of the spring-damper system , e.g.

states.SPRINGM_Z(100)

Definition at line 75 of file Dmp.cpp.

#define GOALM

(

T

)

block(0,2*dim_orig()+0,T,dim_orig())

Extracts first T (time steps) state vectors of the goal system, e.g.

states.GOALM(100)

Definition at line 77 of file Dmp.cpp.

#define PHASEM

(

T

)

block(0,3*dim_orig()+0,T, 1)

Extracts first T (time steps) states of the phase system, e.g.

states.PHASEM(100)

Definition at line 79 of file Dmp.cpp.

#define GATINGM

(

T

)

block(0,3*dim_orig()+1,T, 1)

Extracts first T (time steps) state vectors of the gating system, e.g.

states.GATINGM(100)

Definition at line 81 of file Dmp.cpp.

Function Documentation

BOOST_CLASS_EXPORT_IMPLEMENT

(

DmpBbo::Dmp

)

For boost::serialization.

See http://www.boost.org/doc/libs/1_55_0/libs/serialization/doc/special.html#export