def __init__(self,
dmps,
bfs,
used=None,
default=None,
type='discrete',
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=2. / timesteps)
elif type == 'rythmic':
#dt = 6.28 / timesteps
self.dmp = DMPs_rhythmic(dmps=dmps, bfs=bfs) #, dt=dt)
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=1):
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
if type == 'discrete':
self.dmp = DMPs_discrete(dmps=dmps, bfs=bfs)
elif type == 'rythmic':
self.dmp = DMPs_rhythmic(dmps=dmps, bfs=bfs)
else:
raise ValueError('Invalid type specified. Valid choices \
are discrete or rhythmic.')
self.dmp.cs.run_time *= run_time
