def __init__(self,
dmps,
bfs,
dt=.01,
y0=0,
goal=1,
w=None,
ay=None,
by=None,
**kwargs):
"""
dmps int: number of dynamic motor primitives
bfs int: number of basis functions per DMP
dt float: timestep for simulation
y0 list: initial state of DMPs
goal list: goal state of DMPs
w list: tunable parameters, control amplitude of basis functions
ay int: gain on attractor term y dynamics
by int: gain on attractor term y dynamics
"""
self.dmps = dmps
self.bfs = bfs
self.dt = dt
if isinstance(y0, (int, float)):
y0 = np.ones(self.dmps) * y0
self.y0 = y0
if isinstance(goal, (int, float)):
goal = np.ones(self.dmps) * goal
self.goal = goal
if w is None:
# default is f = 0
w = np.zeros((self.dmps, self.bfs))
self.w = w
if ay is None: ay = np.ones(dmps) * 25 # Schaal 2012
self.ay = ay
if by is None: by = self.ay.copy() / 4 # Schaal 2012
self.by = by
# set up the CS
self.cs = CanonicalSystem(dt=self.dt, **kwargs)
self.timesteps = int(self.cs.run_time / self.dt)
# set up the DMP system
self.reset_state()
