Condition a ProMP on a via-point

Gaussian conditioning of a fitted promFit() ProMP so the trajectory distribution passes through a desired point at a given phase, updating the mean and the variability band.

Usage

promCondition(promp, phase, value, obs_sd = 0.001)

Arguments

promp

A promp from promFit().

phase

Phase in [0, 1] of the via-point.

value

Desired trajectory value at phase.

obs_sd

Observation noise SD (smaller = tighter conditioning; default 1e-3).

Value

an updated promp with the conditioned mean, sd, w_mean, w_cov.

See also

promFit()