DMPComponent.h 8.60 KiB
/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* ArmarX 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 General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @package RobotAPI::ArmarXObjects::DMPComponent
* @author Mirko Waechter ( mirko dot waechter at kit dot edu )
* @date 2015
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
#ifndef _ARMARX_COMPONENT_RobotAPI_DMPComponent_H
#define _ARMARX_COMPONENT_RobotAPI_DMPComponent_H
#include <RobotComponents/interface/components/DMPComponentBase.h>
#include <MemoryX/interface/component/WorkingMemoryInterface.h>
#include <MemoryX/interface/component/LongtermMemoryInterface.h>
#include <MemoryX/libraries/memorytypes/entity/DMPEntity.h>
#include <MemoryX/interface/memorytypes/MemoryEntities.h>
#include <MemoryX/interface/memorytypes/MemorySegments.h>
#include <boost/archive/text_oarchive.hpp>
#include <boost/archive/text_iarchive.hpp>
#include <boost/variant/variant.hpp>
#include <boost/variant/get.hpp>
#include <dmp/representation/dmp/dmpregistration.h>
#include <ArmarXCore/core/Component.h>
#include "dmp/representation/dmp/dmpinterface.h"
#include "dmp/representation/dmp/basicdmp.h"
#include "dmp/representation/dmp/dmp3rdorder.h"
#include "dmp/representation/dmp/quaterniondmp.h"
#include "dmp/representation/dmp/endvelodmp.h"
#include "dmp/representation/dmp/dmp3rdorderforcefield.h"
#include "dmp/representation/dmp/forcefielddmp.h"
#include "dmp/representation/dmp/adaptive3rdorderdmp.h"
#include "dmp/representation/dmp/simpleendvelodmp.h"
//#include "dmp/representation/dmp/endveloforcefielddmp.h"
//#include "dmp/representation/dmp/endveloforcefieldwithobjrepulsiondmp.h"
//#include "dmp/representation/dmp/periodictransientdmp.h"
namespace armarx
{
/**
* @class DMPComponentPropertyDefinitions
* @brief
*/
#define ARMARX_DMPTYPE_BASICDMP 10
#define ARMARX_DMPTYPE_ENDVELODMP 11
#define ARMARX_DMPTYPE_SIMPLEENDVELODMP 12
#define ARMARX_DMPTYPE_FORCEFIELDDMP 13
#define ARMARX_DMPTYPE_ENDVELFORCEFILELDDMP 14
#define ARMARX_DMPTYPE_PERIODICTRANSIENTDMP 15#define ARMARX_DMPTYPE_DMP3RDORDER 20
#define ARMARX_DMPTYPE_DMP3RDORDERFORCEFIELD 21
#define ARMARX_DMPTYPE_ADAPTIVEGOAL3RDORDERDMP 22
#define ARMARX_DMPTYPE_QUATERNIONDMP 30
typedef boost::variant<double, DMP::DVec, Eigen::Quaternionf> paraType;
typedef std::map<int, paraType > configMap;
typedef std::pair<int, paraType > configPair;
class DMPComponentPropertyDefinitions:
public armarx::ComponentPropertyDefinitions
{
public:
DMPComponentPropertyDefinitions(std::string prefix):
armarx::ComponentPropertyDefinitions(prefix)
{
// defineRequiredProperty<std::string>("LongtermMemoryName", "Description");
defineOptionalProperty<std::string>("LongtermMemoryName", "LongtermMemory", "Name of the LongtermMemory component");
}
};
/**
* @defgroup Component-DMPComponent DMPComponent
* @ingroup RobotComponents-Components
* @brief A brief description
*
*
* Detailed Description
*/
/**
* @ingroup Component-DMPComponent
* @brief The DMPComponent class
*/
class DMPComponent :
virtual public Component,
virtual public DMPComponentBase
{
public:
typedef boost::shared_ptr<DMP::DMPInterfaceTemplate<DMP::DMPState> > BasicDMPInterfacePtr;
typedef boost::shared_ptr<DMP::DMPInterfaceTemplate<DMP::_3rdOrderDMP> > DMP3rdOrderInterfacePtr;
DMPComponent():
basicdmp(new DMP::BasicDMP()),
dmp3rdorder(new DMP::DMP3rdOrder()),
dmpType(ARMARX_DMPTYPE_BASICDMP),
tCurrent(0)
{}
/**
* @see armarx::ManagedIceObject::getDefaultName()
*/
virtual std::string getDefaultName() const
{
return "DMPComponent";
}
/**
* @see PropertyUser::createPropertyDefinitions()
*/
virtual armarx::PropertyDefinitionsPtr createPropertyDefinitions()
{
return armarx::PropertyDefinitionsPtr
{
new DMPComponentPropertyDefinitions{getConfigIdentifier()}
}; }
virtual void calculateWholeTrajectory();
virtual DMP::Vec<DMP::DMPState> calculateNextState(DMP::Vec<DMP::DMPState>& currentStates, double t, double tInit, DMP::DVec& canonicalValues);
virtual DMP::Vec<DMP::_3rdOrderDMP> calculateNextState(DMP::Vec<DMP::_3rdOrderDMP>& currentStates, double t, double tInit, DMP::DVec& canonicalValues);
//transmit data from client to server (using ice)
virtual void instantiateDMP(int DMPType, const ::Ice::Current& = ::Ice::Current());
virtual void usingBasicDMP(const ::Ice::Current& = ::Ice::Current())
{
is3rdOrder = false;
}
virtual void using3rdOrderDMP(const ::Ice::Current& = ::Ice::Current())
{
is3rdOrder = true;
}
virtual void setDMPState(const ::armarx::cStateVec& state, const ::Ice::Current& = ::Ice::Current());
virtual void setParameter(const int paraID, double value, const ::Ice::Current& = ::Ice::Current());
virtual void setGoal(const DVector& value, const Ice::Current& = ::Ice::Current());
virtual void setStartPosition(const DVector& value, const Ice::Current& = ::Ice::Current());
virtual void setTimeStamps(const DVector& value, const Ice::Current& = ::Ice::Current());
virtual void setCanonicalValues(const DVector& value, const Ice::Current& = ::Ice::Current());
virtual void getDMPFromDatabase(const std::string& dmpName, const Ice::Current& = ::Ice::Current());
virtual void readTrajectoryFromFile(const std::string& file, const Ice::Current& = ::Ice::Current());
virtual void trainDMP(const ::Ice::Current& = ::Ice::Current());
virtual void storeDMPInDatabase(const std::string& name, const ::Ice::Current& = ::Ice::Current());
virtual void removeDMPFromDatabase(const std::string& name, const ::Ice::Current& = ::Ice::Current());
virtual void setDimensionsToLearn(const DVector& value, const Ice::Current& = ::Ice::Current());
//transmit data from server to client (using ice)
virtual ::armarx::cStateVec getNextState(const ::Ice::Current& = ::Ice::Current());
virtual int getBasicDMPType()
{
int basictype = (dmpType / 10) * 10;
if (basictype == 2)
{
is3rdOrder = true;
}
return basictype;
}
virtual std::string getDMPTypeName();
virtual void setConfigurationMap(configMap conf)
{
configs = conf;
setDMPConfiguration();
}
virtual void setDMPConfiguration();
configMap constructConfigMap(DMP::Vec<int> paraIDs , DMP::Vec<paraType> paraVals);
configMap configs;
DMP::DVec timestamps;
DMP::DVec canonicalValues;
int tCurrent;
std::vector<int> usedDimensions;
protected:
BasicDMPInterfacePtr basicdmp;
DMP3rdOrderInterfacePtr dmp3rdorder;
DMP::Vec<DMP::SampledTrajectoryV2> trajs;
int dmpType;
DMP::Vec<DMP::DMPState> currentDMPState;
DMP::Vec<DMP::_3rdOrderDMP> currentDMP3rdOrder;
memoryx::LongtermMemoryInterfacePrx longtermMemoryPrx;
memoryx::PersistentDMPDataSegmentBasePrx dmpDataMemoryPrx;
/**
* @see armarx::ManagedIceObject::onInitComponent()
*/
virtual void onInitComponent();
/**
* @see armarx::ManagedIceObject::onConnectComponent()
*/
virtual void onConnectComponent();
/**
* @see armarx::ManagedIceObject::onDisconnectComponent()
*/
virtual void onDisconnectComponent();
/**
* @see armarx::ManagedIceObject::onExitComponent()
*/
virtual void onExitComponent();
/**
* @see PropertyUser::createPropertyDefinitions()
*/
// virtual armarx::PropertyDefinitionsPtr createPropertyDefinitions();
};
typedef ::IceInternal::Handle< ::armarx::DMPComponent> DMPComponentPtr;
}
#endif