Struct Dmp 

pub struct Dmp { /* private fields */ }

A learned DMP model that can reproduce trajectories.

Implementations

impl Dmp

pub fn learn( training_data: &[Vec<f64>], data_period: f64, config: &DmpConfig, ) -> Self

Learn DMP weights from demonstration data.

training_data is a slice of points where each inner slice is a spatial position (e.g. &[x, y]). data_period is the total time the demonstration covers.

pub fn recreate( &self, init_state: &[f64], goal_state: &[f64], period: f64, ) -> DmpTrajectory

Recreate a trajectory from the learned weights.

• init_state — desired start position (one value per dimension).
• goal_state — desired goal position.
• period — total time for the new trajectory.

pub fn dimensions(&self) -> usize

Number of spatial dimensions.

pub fn num_basis(&self) -> usize

Number of basis functions.

pub fn weights(&self) -> &[Vec<f64>]

Reference to the learned weight matrix.

Trait Implementations

impl Clone for Dmp

fn clone(&self) -> Dmp

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Dmp

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.