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Generate a trajectory from a Dynamic Movement Primitive

Source: R/motor-primitives.R
dmpGenerate.Rd

Integrates a fitted dmpFit() DMP, optionally generalising to a new goal, start or duration (temporal scaling) while preserving the movement's shape and guaranteeing convergence to the goal.

Usage

dmpGenerate(dmp, goal = NULL, start = NULL, tau = NULL, n = 100L)

Arguments

dmp

A dmp from dmpFit().

goal, start

Optional new goal / start (length D); default the learned ones.

tau

Optional new duration (temporal scaling); default the learned duration.

n

Number of output samples (default 100).

Value

a dmp_trajectory: time, y, yd (n x D).

See also

dmpFit()

Examples

t <- seq(0, 1, length.out = 100)
y <- 10 * (10 * t^3 - 15 * t^4 + 6 * t^5)   # minimum-jerk demo
d <- dmpFit(y)
rollout <- dmpGenerate(d)
dim(rollout$y)
#> [1] 100   1