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Condition a ProMP on a via-point

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

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()

Examples

z <- seq(0, 1, length.out = 50)
demos <- lapply(1:20, function(i) sin(2 * pi * z) + rnorm(50, 0, 0.1))
p <- promFit(demos)
cond <- promCondition(p, phase = 0.5, value = 1.0)
length(cond$mean)
#> [1] 50