Generate a trajectory from a Dynamic Movement Primitive

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()