train-arm.C File Reference

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Detailed Description

train the arm

Definition in file train-arm.C.

#include "Component/ModelManager.H"
#include "Image/Image.H"
#include "Image/Transforms.H"
#include "Image/DrawOps.H"
#include "Image/Rectangle.H"
#include "Image/MathOps.H"
#include "Image/MatrixOps.H"
#include "Image/Layout.H"
#include "Media/FrameSeries.H"
#include "Transport/FrameInfo.H"
#include "Raster/GenericFrame.H"
#include "Raster/Raster.H"
#include "Neuro/BeoHeadBrain.H"
#include "Util/Timer.H"
#include "GUI/GeneralGUI.H"
#include "GUI/ImageDisplayStream.H"
#include "GUI/DebugWin.H"
#include "GUI/XWinManaged.H"
#include "RCBot/Motion/MotionEnergy.H"
#include "ArmControl/ArmSim.H"
#include "ArmControl/RobotArm.H"
#include "ArmControl/ArmController.H"
#include "Devices/DeviceOpts.H"
#include "Util/MathFunctions.H"
#include <unistd.h>
#include <stdio.h>
#include <signal.h>
#include <lwpr/lwpr.h>
#include <lwpr/lwpr_xml.h>

Include dependency graph for train-arm.C:

Go to the source code of this file.

Defines
#define	USE_EXPAT
Functions
void	getTargetPos (double *desiredPos)
ArmController::JointPos	getIK (LWPR_Model &ik_model, const double *desiredPos)
double	getDistance (const double *pos, const double *desiredPos)
void	trainArm (LWPR_Model &ik_model, const double *armPos, const ArmController::JointPos &jointPos)
ArmController::JointPos	calcGradient (const double *desiredPos)
void	terminate (int s)
	Signal handler (e.g., for control-C).
Point2D< int >	getClick (nub::soft_ref< OutputFrameSeries > &ofs)
int	getKey (nub::soft_ref< OutputFrameSeries > &ofs)
int	main (const int argc, const char **argv)
Variables
ModelManager *	mgr
nub::soft_ref< ArmSim >	armSim
nub::soft_ref< ArmController >	armControllerArmSim

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Function Documentation

int main (  const int  argc, const char **  argv )

* Set initial distance metric to 50*(identity matrix) */ * Set init_alpha to 250 in all elements */ * Set w_gen to 0.2 */ Definition at line 224 of file train-arm.C. References ModelComponent::addSubComponent(), ArmController::JointPos::base, calcGradient(), ArmController::JointPos::elbow, flipVertic(), getClick(), getDistance(), getIK(), ArmController::JointPos::gripper, Point2D< T >::i, initRandomNumbers(), Point2D< T >::isValid(), Point2D< T >::j, LDEBUG, LINFO, MC_RECURSE, MYLOGVERB, ArmController::JointPos::sholder, SRC_POS, terminate, trainArm(), ArmController::JointPos::wrist1, and ArmController::JointPos::wrist2.

void terminate (  int  s  )

Signal handler (e.g., for control-C). Definition at line 193 of file train-arm.C. References LERROR.

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