updated taskspaceDMPcontroller

source/RobotAPI/libraries/DMPController/TaskSpaceDMPController.cpp

@@ -244,7 +244,6 @@ void TaskSpaceDMPController::learnDMPFromFiles(const std::vector<std::string>& f
         ratiosVec.at(i) = ratios.at(i) / ratioSum;
     }
 
-    ARMARX_INFO << "ratios: " << ratios.at(0);
     dmpPtr->learnFromTrajectories(trajs);
     dmpPtr->styleParas = dmpPtr->getStyleParasWithRatio(ratiosVec);
 }
@@ -267,6 +266,17 @@ void TaskSpaceDMPController::learnDMPFromFiles(const std::vector<std::string>& f
     learnDMPFromFiles(fileNames, ratios);
 }
 
+void TaskSpaceDMPController::learnDMPFromSampledTrajectory(const DMP::Vec<DMP::SampledTrajectoryV2>& trajs, const std::vector<double>& ratios)
+{
+    dmpPtr->learnFromTrajectories(trajs);
+    dmpPtr->styleParas = dmpPtr->getStyleParasWithRatio(ratios);
+}
+
+void TaskSpaceDMPController::setRatios(const std::vector<double>& ratios)
+{
+    dmpPtr->styleParas = dmpPtr->getStyleParasWithRatio(ratios);
+}
+
 void TaskSpaceDMPController::learnDMPFromTrajectory(const TrajectoryPtr& traj)
 {
     ARMARX_CHECK_EQUAL(traj->dim(), 7);

source/RobotAPI/libraries/DMPController/TaskSpaceDMPController.h

@@ -155,6 +155,7 @@ namespace armarx
         void learnDMPFromFiles(const std::vector<std::string>& fileNames, const std::vector<double>& ratios);
         void learnDMPFromFiles(const std::vector<std::string>& fileNames);
 
+        void learnDMPFromSampledTrajectory(const DMP::Vec<DMP::SampledTrajectoryV2 >& trajs);
         void learnDMPFromTrajectory(const TrajectoryPtr& traj);
 
         void setViaPose(double canVal, const Eigen::Matrix4f& viaPose);
@@ -187,6 +188,9 @@ namespace armarx
         double canVal;
         bool isPhaseStopControl;
         std::string dmpName;
+        void learnDMPFromSampledTrajectory(const DMP::Vec<DMP::SampledTrajectoryV2>& trajs, const std::vector<double>& ratios);
+
+        void setRatios(const std::vector<double>& ratios);
     private:
 
         double tau;