def __init__(self,
dmps,
bfs,
used=None,
default=None,
type='discrete',
run_time=2.,
timesteps=100):
self.used = ones(dmps *
(bfs + 2), dtype=bool) if used is None else array(
used, dtype=bool)
self.default = zeros(dmps *
(bfs + 2)) if default is None else array(default)
self.motor = copy(self.default)
self.n_dmps = dmps
self.n_bfs = bfs
self.timesteps = timesteps
if type == 'discrete':
self.dmp = DMPs_discrete(dmps=dmps,
bfs=bfs,
dt=run_time / timesteps,
run_time=run_time)
elif type == 'rythmic':
self.dmp = DMPs_rhythmic(dmps=dmps, bfs=bfs)
else:
raise ValueError('Invalid type specified. Valid choices \
are discrete or rhythmic.')
def __init__(self, dmps, bfs, used=None, default=None, type='discrete', run_time=2., timesteps=100):
self.used = ones(dmps * (bfs + 2), dtype=bool) if used is None else array(used, dtype=bool)
self.default = zeros(dmps*(bfs + 2)) if default is None else array(default)
self.motor = copy(self.default)
self.n_dmps = dmps
self.n_bfs = bfs
self.timesteps = timesteps
if type == 'discrete':
self.dmp = DMPs_discrete(dmps=dmps, bfs=bfs, dt=run_time/timesteps, run_time=run_time)
elif type =='rythmic':
self.dmp = DMPs_rhythmic(dmps=dmps, bfs=bfs)
else:
raise ValueError('Invalid type specified. Valid choices \
are discrete or rhythmic.')
class DmpPrimitive(object):
def __init__(self, dmps, bfs, used=None, default=None, type='discrete', run_time=2., timesteps=100):
self.used = ones(dmps * (bfs + 2), dtype=bool) if used is None else array(used, dtype=bool)
self.default = zeros(dmps*(bfs + 2)) if default is None else array(default)
self.motor = copy(self.default)
self.n_dmps = dmps
self.n_bfs = bfs
self.timesteps = timesteps
if type == 'discrete':
self.dmp = DMPs_discrete(dmps=dmps, bfs=bfs, dt=run_time/timesteps, run_time=run_time)
elif type =='rythmic':
self.dmp = DMPs_rhythmic(dmps=dmps, bfs=bfs)
else:
raise ValueError('Invalid type specified. Valid choices \
are discrete or rhythmic.')
def trajectory(self, m, n_times=1):
self.dmp.cs.run_time *= n_times
self.dmp.timesteps *= n_times
self.motor[self.used] = m
self.dmp.y0 = self.motor[:self.dmp.dmps]
self.dmp.goal = self.motor[-self.dmp.dmps:]
self.dmp.w = self.motor[self.dmp.dmps:-self.dmp.dmps].reshape(self.dmp.dmps, self.dmp.bfs)
y, dy, ddy = self.dmp.rollout(timesteps=self.timesteps, tau=1.)
self.dmp.cs.run_time /= n_times
self.dmp.timesteps /= n_times
return y
class DmpPrimitive(object):
def __init__(self,
dmps,
bfs,
used=None,
default=None,
type='discrete',
run_time=2.,
timesteps=100):
self.used = ones(dmps *
(bfs + 2), dtype=bool) if used is None else array(
used, dtype=bool)
self.default = zeros(dmps *
(bfs + 2)) if default is None else array(default)
self.motor = copy(self.default)
self.n_dmps = dmps
self.n_bfs = bfs
self.timesteps = timesteps
if type == 'discrete':
self.dmp = DMPs_discrete(dmps=dmps,
bfs=bfs,
dt=run_time / timesteps,
run_time=run_time)
elif type == 'rythmic':
self.dmp = DMPs_rhythmic(dmps=dmps, bfs=bfs)
else:
raise ValueError('Invalid type specified. Valid choices \
are discrete or rhythmic.')
def trajectory(self, m, n_times=1):
self.dmp.cs.run_time *= n_times
self.dmp.timesteps *= n_times
self.motor[self.used] = m
self.dmp.y0 = self.motor[:self.dmp.dmps]
self.dmp.goal = self.motor[-self.dmp.dmps:]
self.dmp.w = self.motor[self.dmp.dmps:-self.dmp.dmps].reshape(
self.dmp.dmps, self.dmp.bfs)
y, dy, ddy = self.dmp.rollout(timesteps=self.timesteps, tau=1.)
self.dmp.cs.run_time /= n_times
self.dmp.timesteps /= n_times
return y
