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Drake
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#include <drake/attic/multibody/rigid_body_actuator.h>
Public Types | |
| typedef CollisionElementsVector::iterator | CollisionElementsIterator |
Public Member Functions | |
| RigidBody () | |
| std::unique_ptr< RigidBody< T > > | Clone () const |
| Returns a clone of this RigidBody. More... | |
| const std::string & | get_name () const |
| Returns the name of this rigid body. More... | |
| void | set_name (const std::string &name) |
| Sets the name of this rigid body. More... | |
| const std::string & | get_model_name () const |
| Returns the name of the model defining this rigid body. More... | |
| void | set_model_name (const std::string &name) |
| Sets the name of the model defining this rigid body. More... | |
| int | get_model_instance_id () const |
| Returns the ID of the model instance to which this rigid body belongs. More... | |
| void | set_model_instance_id (int model_instance_id) |
| Sets the ID of the model instance to which this rigid body belongs. More... | |
| void | setJoint (std::unique_ptr< DrakeJoint > joint) |
| Sets the parent joint through which this rigid body connects to its parent rigid body. More... | |
| template<typename JointType > | |
| JointType * | add_joint (RigidBody *parent, std::unique_ptr< JointType > joint) |
Adds degrees of freedom to this body by connecting it to parent with joint . More... | |
| const DrakeJoint & | getJoint () const |
| An accessor to this rigid body's parent joint. More... | |
| DrakeJoint & | get_mutable_joint () |
| An accessor to this rigid body's mutable inboard joint. More... | |
| bool | has_joint () const |
| Reports if the body has a parent joint. More... | |
| void | set_parent (RigidBody *parent) |
| Sets the parent rigid body. More... | |
| const RigidBody * | get_parent () const |
| Returns a const pointer to this rigid body's parent rigid body. More... | |
| bool | has_parent_body () const |
| Returns whether this RigidBody has a "parent", which is a RigidBody that is connected to this RigidBody via a DrakeJoint and is closer to the root of the RigidBodyTree relative to this RigidBody. More... | |
| bool | hasParent () const |
| bool | has_as_parent (const RigidBody &other) const |
| Checks if a particular rigid body is the parent of this rigid body. More... | |
| void | set_body_index (int body_index) |
Sets the "body index" of this RigidBody . More... | |
| int | get_body_index () const |
Returns the "body index" of this RigidBody . More... | |
| void | set_position_start_index (int position_start_index) |
Sets the start index of this rigid body's mobilizer joint's contiguous generalized coordinates q (joint position state variables) within the full RigidBodyTree generalized coordinate vector. More... | |
| int | get_position_start_index () const |
| Returns the start index of this body's parent jont's position states; see RigidBody::set_position_start_index() for more information. More... | |
| void | set_velocity_start_index (int velocity_start_index) |
Sets the start index of this rigid body's mobilizer joint's contiguous generalized velocity v (joint velocity state variables) within the full RigidBodyTree generalized velocity vector. More... | |
| int | get_velocity_start_index () const |
| Returns the start index of this body's parent jont's velocity states; see RigidBody::set_velocity_start_index() for more information. More... | |
| void | AddVisualElement (const DrakeShapes::VisualElement &elements) |
| const DrakeShapes::VectorOfVisualElements & | get_visual_elements () const |
| void | AddCollisionElement (const std::string &group_name, drake::multibody::collision::Element *element) |
Adds the given collision element to the body with the given group name. More... | |
| const std::vector< drake::multibody::collision::ElementId > & | get_collision_element_ids () const |
| std::vector< drake::multibody::collision::ElementId > & | get_mutable_collision_element_ids () |
Returns a reference to an std::vector of collision elements that represent the collision geometry of this rigid body. More... | |
| const std::map< std::string, std::vector< drake::multibody::collision::ElementId > > & | get_group_to_collision_ids_map () const |
| Returns a map of collision element group names to vectors of collision element IDs. More... | |
| std::map< std::string, std::vector< drake::multibody::collision::ElementId > > & | get_mutable_group_to_collision_ids_map () |
| Returns a map of collision element group names to vectors of collision element IDs. More... | |
| bool | IsRigidlyFixedToWorld () const |
| Reports if there is a path in this tree from this body to the world where all joints are fixed. More... | |
| Eigen::Isometry3d | ComputeWorldFixedPose () const |
Reports X_WBₙ , the pose of this body, Bₙ , in the world frame based on the rigid kinematic path from Bₙ to W . More... | |
| bool | adjacentTo (const RigidBody &other) const |
| Reports if this body is considered "adjacent" to the given body. More... | |
| bool | CanCollideWith (const RigidBody &other) const |
Returns true if this body should be checked for collisions with the other body. More... | |
| bool | appendCollisionElementIdsFromThisBody (const std::string &group_name, std::vector< drake::multibody::collision::ElementId > &ids) const |
| bool | appendCollisionElementIdsFromThisBody (std::vector< drake::multibody::collision::ElementId > &ids) const |
| const Eigen::Matrix3Xd & | get_contact_points () const |
| Returns the points on this rigid body that should be checked for collision with the environment. More... | |
| void | set_contact_points (const Eigen::Matrix3Xd &contact_points) |
| Saves the points on this rigid body that should be checked for collision between this rigid body and the environment. More... | |
| void | set_mass (double mass) |
| Sets the mass of this rigid body. More... | |
| double | get_mass () const |
| Returns the mass of this rigid body. More... | |
| void | set_center_of_mass (const Eigen::Vector3d ¢er_of_mass) |
| Sets the center of mass of this rigid body. More... | |
| const Eigen::Vector3d & | get_center_of_mass () const |
| Gets the center of mass of this rigid body. More... | |
| void | set_spatial_inertia (const drake::SquareTwistMatrix< double > &inertia_matrix) |
| Sets the spatial inertia of this rigid body. More... | |
| const drake::SquareTwistMatrix< double > & | get_spatial_inertia () const |
| Returns the spatial inertia of this rigid body. More... | |
| void | ApplyTransformToJointFrame (const Eigen::Isometry3d &transform_body_to_joint) |
| Transforms all of the visual, collision, and inertial elements associated with this body to the proper joint frame. More... | |
| CollisionElementsIterator | collision_elements_begin () |
| CollisionElementsIterator | collision_elements_end () |
| int | get_num_collision_elements () const |
| Reports the total number of registered collision elements attached to this body. More... | |
Public Attributes | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::vector< drake::multibody::collision::Element * > | CollisionElementsVector |
Friends | |
| std::ostream & | operator<< (std::ostream &out, const RigidBody< double > &b) |
| typedef CollisionElementsVector::iterator CollisionElementsIterator |
| RigidBody | ( | ) |
|
inline |
Adds degrees of freedom to this body by connecting it to parent
with joint
.
The body takes ownership of the joint.
This method aborts with an error message if the user attempts to assign a joint to a body that already has one.
Note that this is specifically a tree joint and that by "parent" we mean a body that is closer to "world" in the tree topology.
The parent
pointer is copied and stored meaning its lifetime must exceed the lifetime of this RigidBody.
| [in] | parent | The RigidBody this body gets connected to. |
| [in] | joint | The DrakeJoint connecting this body to parent and adding degrees of freedom to this body. |
| void AddCollisionElement | ( | const std::string & | group_name, |
| drake::multibody::collision::Element * | element | ||
| ) |
Adds the given collision element
to the body with the given group name.
| [in] | group_name | The collision element's group name. |
| [in] | element | The element to associate with the rigid body. |
element
has not already been added to this body. | void AddVisualElement | ( | const DrakeShapes::VisualElement & | elements | ) |
Reports if this body is considered "adjacent" to the given body.
"Adjacency" refers to the idea that the bodies are connected to each other in the rigid body tree by a non-floating joint. By this definition, a rigid body is not adjacent to itself.
In the degenerate case where one rigid body is a parent of the other, but with no joint assigned, the rigid bodies will be considered adjacent. Conversely, the degenerate case where a joint is assigned, but the parent relationship is not set, the rigid bodies will not be considered adjacent.
| [in] | other | The body to test against this body. |
true
if the bodies are "adjacent". | bool appendCollisionElementIdsFromThisBody | ( | const std::string & | group_name, |
| std::vector< drake::multibody::collision::ElementId > & | ids | ||
| ) | const |
| bool appendCollisionElementIdsFromThisBody | ( | std::vector< drake::multibody::collision::ElementId > & | ids | ) | const |
| void ApplyTransformToJointFrame | ( | const Eigen::Isometry3d & | transform_body_to_joint | ) |
Transforms all of the visual, collision, and inertial elements associated with this body to the proper joint frame.
This is necessary, for instance, to support SDF loading where the child frame can be specified independently from the joint frame. In our RigidBodyTree classes, the body frame IS the joint frame.
| transform_body_to_joint | The transform from this body's frame to the joint's frame. |
Returns true
if this body should be checked for collisions with the other
body.
CanCollideWith should be commutative: A can collide with B implies B can collide with A.
| [in] | other | The body to query against. |
true
if collision between this and other should be tested. | std::unique_ptr< RigidBody< T > > Clone | ( | ) | const |
Returns a clone of this RigidBody.
The parent is not cloned because the reference to it can only be determined by the RigidBodyTree (which owns both this body and the parent body). Both the parent and the joint are expected to be set by calling add_joint().
The visual and collision elements will be cloned pending identified need.
|
inline |
|
inline |
| Isometry3d ComputeWorldFixedPose | ( | ) | const |
Reports X_WBₙ
, the pose of this body, Bₙ
, in the world frame based on the rigid kinematic path from Bₙ
to W
.
As such, the world-fixed pose is only defined for bodies that are rigidly fixed to the world.
For this body, with depth n
in the tree, Bₙ
, X_WBₙ
is defined as:
X_WBₙ ≡ X_WB₁ * X_B₁B₂ * ... * X_Bₙ₋₂Bₙ₋₁ * X_Bₙ₋₁Bₙ
X_Bₖ₋₁Bₖ
represents the transform from one body's frame (Bₖ
) to its parent's frame (Bₖ₋₁). By construction, body Bₖ
has a single inboard joint. This joint defines several frames, discussed in rigid_body_tree_frames, including its parent frame: Pₖ ≡ Bₖ₋₁
. This allows us to compute X_Bₖ₋₁Bₖ
as follows:
X_Bₖ₋₁Bₖ = X_PₖBₖ
because Pₖ ≡ Bₖ₋₁
X_PₖBₖ ≡ X_PₖFₖ * X_FₖMₖ(q) * X_MₖBₖ
, where:X_MₖBₖ = I
in Drake's implementation.X_FₖMₖ(q) = I
because we only follow FixedJoint instances.If the body is not rigidly fixed to the world, an exception will be thrown.
X_WBₙ
.
|
inline |
Returns the "body index" of this RigidBody
.
This is the index within the vector of RigidBody
objects within the RigidBodyTree
.
| const Eigen::Vector3d & get_center_of_mass | ( | ) | const |
Gets the center of mass of this rigid body.
The center of mass is expressed in this body's frame.
|
inline |
std::vector
of collision elements that represent the collision geometry of this rigid body. | const Eigen::Matrix3Xd & get_contact_points | ( | ) | const |
Returns the points on this rigid body that should be checked for collision with the environment.
These are the contact points that were saved by RigidBody::set_contact_points().
| const std::map< std::string, std::vector< drake::multibody::collision::ElementId > > & get_group_to_collision_ids_map | ( | ) | const |
Returns a map of collision element group names to vectors of collision element IDs.
These are the collision element groups created through calls to RigidBody::AddCollisionElementToGroup().
| double get_mass | ( | ) | const |
Returns the mass of this rigid body.
| int get_model_instance_id | ( | ) | const |
Returns the ID of the model instance to which this rigid body belongs.
| const std::string & get_model_name | ( | ) | const |
Returns the name of the model defining this rigid body.
| std::vector< drake::multibody::collision::ElementId > & get_mutable_collision_element_ids | ( | ) |
Returns a reference to an std::vector
of collision elements that represent the collision geometry of this rigid body.
| std::map< std::string, std::vector< drake::multibody::collision::ElementId > > & get_mutable_group_to_collision_ids_map | ( | ) |
Returns a map of collision element group names to vectors of collision element IDs.
These are the collision element groups created through calls to RigidBody::AddCollisionElementToGroup().
|
inline |
An accessor to this rigid body's mutable inboard joint.
Also called "parent joint".
| std::runtime_error | if there is no joint (joint == nullptr) |
| const std::string & get_name | ( | ) | const |
Returns the name of this rigid body.
|
inline |
Reports the total number of registered collision elements attached to this body.
See Model::AddElement() for definition of "registered".
|
inline |
Returns a const pointer to this rigid body's parent rigid body.
|
inline |
Returns the start index of this body's parent jont's position states; see RigidBody::set_position_start_index() for more information.
|
inline |
Returns the spatial inertia of this rigid body.
|
inline |
Returns the start index of this body's parent jont's velocity states; see RigidBody::set_velocity_start_index() for more information.
| const DrakeShapes::VectorOfVisualElements & get_visual_elements | ( | ) | const |
|
inline |
An accessor to this rigid body's parent joint.
By "parent joint" we mean the joint through which this rigid body connects to its parent rigid body in the rigid body tree.
Checks if a particular rigid body is the parent of this rigid body.
| [in] | other | The potential parent of this rigid body. |
|
inline |
Reports if the body has a parent joint.
|
inline |
Returns whether this RigidBody has a "parent", which is a RigidBody that is connected to this RigidBody via a DrakeJoint and is closer to the root of the RigidBodyTree relative to this RigidBody.
In other words, the parent RigidBody is part of a kinematic path from this RigidBody to the root of the RigidBodyTree. Thus, by definition, all RigidBody objects should have a parent RigidBody except for the RigidBodyTree's root, which is the world.
| bool hasParent | ( | ) | const |
| bool IsRigidlyFixedToWorld | ( | ) | const |
Reports if there is a path in this tree from this body to the world where all joints are fixed.
This method throws an exception if the RigidBodyTree is invalid in that:
| void set_body_index | ( | int | body_index | ) |
Sets the "body index" of this RigidBody
.
The "body index" is the index of this RigidBody
within the vector of RigidBody
objects within the RigidBodyTree
. Users should NOT call this method. It is only here to be used internally by RigidBodyTree.
| void set_center_of_mass | ( | const Eigen::Vector3d & | center_of_mass | ) |
Sets the center of mass of this rigid body.
The center of mass is expressed in this body's frame.
| void set_contact_points | ( | const Eigen::Matrix3Xd & | contact_points | ) |
Saves the points on this rigid body that should be checked for collision between this rigid body and the environment.
These contact points can be obtained through RigidBody::get_contact_points().
| void set_mass | ( | double | mass | ) |
Sets the mass of this rigid body.
| void set_model_instance_id | ( | int | model_instance_id | ) |
Sets the ID of the model instance to which this rigid body belongs.
| void set_model_name | ( | const std::string & | name | ) |
Sets the name of the model defining this rigid body.
| void set_name | ( | const std::string & | name | ) |
Sets the name of this rigid body.
| void set_parent | ( | RigidBody< T > * | parent | ) |
Sets the parent rigid body.
This is the rigid body that is connected to this rigid body's joint.
| [in] | parent | A pointer to this rigid body's parent rigid body. |
| void set_position_start_index | ( | int | position_start_index | ) |
Sets the start index of this rigid body's mobilizer joint's contiguous generalized coordinates q
(joint position state variables) within the full RigidBodyTree generalized coordinate vector.
For more details about the semantics of position_start_index
, see the documentation for RigidBodyTree.
| void set_spatial_inertia | ( | const drake::SquareTwistMatrix< double > & | inertia_matrix | ) |
Sets the spatial inertia of this rigid body.
| void set_velocity_start_index | ( | int | velocity_start_index | ) |
Sets the start index of this rigid body's mobilizer joint's contiguous generalized velocity v
(joint velocity state variables) within the full RigidBodyTree generalized velocity vector.
For more details about the semantics of velocity_start_index
, see the documentation for RigidBodyTree.
| void setJoint | ( | std::unique_ptr< DrakeJoint > | joint | ) |
Sets the parent joint through which this rigid body connects to its parent rigid body.
| [in] | joint | The parent joint of this rigid body. Note that this rigid body assumes ownership of this joint. |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef std::vector<drake::multibody::collision::Element*> CollisionElementsVector |


Theia contains efficient and robust implementations of the following pose and resectioning algorithms. We attempted to make each method as general as possible so that users were not tied to Theia data structures to use the methods. The interface for all pose methods uses Eigen types for feature positions, 3D positions, and pose rotations and translations.
You can include the Pose module in your code with the following line:
#include <theia/pose.h>
- bool PoseFromThreePoints(const Eigen::Vector2d feature_position[3], const Eigen::Vector3d world_point[3], std::vector<Eigen::Matrix3d>* solution_rotations, std::vector<Eigen::Vector3d>* solution_translations)¶
Computes camera pose using the three point algorithm and returns all possible solutions (up to 4). Follows steps from the paper “A Novel Parameterization of the Perspective-Three-Point Problem for a direct computation of Absolute Camera position and Orientation” by [Kneip]. This algorithm has been proven to be up to an order of magnitude faster than other methods. The output rotation and translation define world-to-camera transformation.
feature_position: Image points corresponding to model points. These should be calibrated image points as opposed to pixel values.
world_point: 3D location of features.
solution_rotations: the rotation matrix of the candidate solutions
solution_translation: the translation of the candidate solutions
returns: Whether the pose was computed successfully, along with the output parameters rotation and translation filled with the valid poses.
- bool FivePointRelativePose(const Eigen::Vector2d image1_points[5], const Eigen::Vector2d image2_points[5], std::vector<Eigen::Matrix3d>* rotation, std::vector<Eigen::Vector3d>* translation)¶
Computes the relative pose between two cameras using 5 corresponding points. Algorithm is implemented based on “An Efficient Solution to the Five-Point Relative Pose Problem” by [Nister]. The rotation and translation returned are defined such that \(E=[t]_{\times} * R\) and \(y^\top * E * x = 0\) where \(y\) are points from image2 and \(x\) are points from image1.
image1_points: Location of features on the image plane of image 1.
image2_points: Location of features on the image plane of image 2.
returns: Output the number of poses computed as well as the relative rotation and translation.
- bool FourPointHomography(const std::vector<Eigen::Vector2d>& image_1_points, const std::vector<Eigen::Vector2d>& image_2_points, Eigen::Matrix3d* homography)¶
Computes the 2D homography mapping points in image 1 to image 2 such that: \(x' = Hx\) where \(x\) is a point in image 1 and \(x'\) is a point in image 2. The algorithm implemented is the DLT algorithm based on algorithm 4.2 in [HartleyZisserman].
image_1_points: Image points from image 1. At least 4 points must be passed in.
image_2_points: Image points from image 2. At least 4 points must be passed in.
homography: The computed 3x3 homography matrix.
- bool NormalizedEightPoint(const std::vector<Eigen::Vector2d>& image_1_points, const std::vector<Eigen::Vector2d>& image_2_points, Eigen::Matrix3d* fundamental_matrix)¶
Computes the fundamental matrix relating image points between two images such that \(x' F x = 0\) for all correspondences \(x\) and \(x'\) in images 1 and 2 respectively. The normalized eight point algorithm is a speedy estimation of the fundamental matrix (Alg 11.1 in [HartleyZisserman]) that minimizes an algebraic error.
image_1_points: Image points from image 1. At least 8 points must be passed in.
image_2_points: Image points from image 2. At least 8 points must be passed in.
fundamental_matrix: The computed fundamental matrix.
returns: true on success, false on failure.
- bool GoldStandardEightPoint(const std::vector<Eigen::Vector2d>& image_1_points, const std::vector<Eigen::Vector2d>& image_2_points, Eigen::Matrix3d* fundamental_matrix)¶
Computes the fundamental matrix relating image points between two images such that \(x' F x = 0\) for all correspondences \(x\) and \(x'\) in images 1 and 2 respectively. The gold standard algorithm computes an initial estimation of the fundmental matrix from the NormalizedEightPoint() then uses Levenberg-Marquardt to minimize the geometric error (i.e., reprojection error) according to algorithm 11.3 in [HartleyZisserman].
image_1_points: Image points from image 1. At least 8 points must be passed in.
image_2_points: Image points from image 2. At least 8 points must be passed in.
fundamental_matrix: The computed fundamental matrix.
returns: true on success, false on failure.
- void DlsPnp(const std::vector<Eigen::Vector2d>& feature_position, const std::vector<Eigen::Vector3d>& world_point, std::vector<Eigen::Quaterniond>* solution_rotation, std::vector<Eigen::Vector3d>* solution_translation)¶
Computes the camera pose using the Perspective N-point method from “A Direct Least-Squares (DLS) Method for PnP” by [Hesch] and Stergios Roumeliotis. This method is extremely scalable and highly accurate for the PnP problem. A minimum of 4 points are required, but there is no maximum number of points allowed as this is a least-squared approach. Theoretically, up to 27 solutions may be returned, but in practice only 4 real solutions arise and in almost all cases where n >= 6 there is only one solution which places the observed points in front of the camera. The returned rotation and translations are world-to-camera transformations.
feature_position: Normalized image rays corresponding to model points. Must contain at least 4 points.
points_3d: 3D location of features. Must correspond to the image_ray of the same index. Must contain the same number of points as image_ray, and at least 4.
solution_rotation: the rotation quaternion of the candidate solutions
solution_translation: the translation of the candidate solutions
- int FourPointPoseAndFocalLength(const std::vector<Eigen::Vector2d>& feature_positions, const std::vector<Eigen::Vector3d>& world_points, std::vector<Eigen::Matrix<double, 3, 4>>* projection_matrices)¶
Computes the camera pose and unknown focal length of an image given four 2D-3D correspondences, following the method of [Bujnak]. This method involves computing a grobner basis from a modified constraint of the focal length and pose projection.
feature_position: Normalized image rays corresponding to model points. Must contain at least 4 points.
points_3d: 3D location of features. Must correspond to the image_ray of the same index. Must contain the same number of points as image_ray, and at least 4.
projection_matrices: The solution world-to-camera projection matrices, inclusive of the unknown focal length. For a focal length f and a camera calibration matrix \(K=diag(f, f, 1)\), the projection matrices returned are of the form \(P = K * [R | t]\).
- bool FivePointFocalLengthRadialDistortion(const std::vector<Eigen::Vector2d>& feature_positions, const std::vector<Eigen::Vector3d>& world_points, const int num_radial_distortion_params, std::vector<Eigen::Matrix<double, 3, 4>>* projection_matrices, std::vector<std::vector<double>>* radial_distortions)¶
Compute the absolute pose, focal length, and radial distortion of a camera using five 3D-to-2D correspondences [Kukelova]. The method solves for the projection matrix (up to scale) by using a cross product constraint on the standard projection equation. This allows for simple solution to the first two rows of the projection matrix, and the third row (which contains the focal length and distortion parameters) can then be solved with SVD on the remaining constraint equations from the first row of the projection matrix. See the paper for more details.
feature_positions: the 2D location of image features. Exactly five features must be passed in.
world_points: 3D world points corresponding to the features observed. Exactly five points must be passed in.
- num_radial_distortion_params: The number of radial distortion paramters to
- solve for. Must be 1, 2, or 3.
- projection_matrices: Camera projection matrices (that encapsulate focal
- length). These solutions are only valid up to scale.
radial_distortions: Each entry of this vector contains a vector with the radial distortion parameters (up to 3, but however many were specified in num_radial_distortion_params).
return: true if successful, false if not.


Flight Info:
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Describes a transfer on a UDP endpoint. More...
Public Attributes | |
| TransferCallback | fCallback |
| Optional callback to invoke when the transfer completes. More... | |
| void * | pArgument |
| Optional argument to the callback function. More... | |
| uint8_t | transType |
| Transfer type. More... | |
| uint8_t | reserved [3] |
| int32_t | buffered |
| Number of bytes which have been written into the UDP internal FIFO buffers. More... | |
| uint8_t * | pData |
| Pointer to a data buffer used for emission/reception. More... | |
| int32_t | transferred |
| Number of bytes which have been sent/received. More... | |
| int32_t | remaining |
| Number of bytes which have not been buffered/transferred yet. More... | |
| uint16_t | transType |
| Transfer type. More... | |
| int16_t | buffered |
| Number of bytes which have been written into the UDP internal FIFO buffers. More... | |
Describes a transfer on a UDP endpoint.
| int32_t Transfer::buffered |
Number of bytes which have been written into the UDP internal FIFO buffers.
| int16_t Transfer::buffered |
Number of bytes which have been written into the UDP internal FIFO buffers.
| TransferCallback Transfer::fCallback |
Optional callback to invoke when the transfer completes.
| void * Transfer::pArgument |
Optional argument to the callback function.
| uint8_t * Transfer::pData |
Pointer to a data buffer used for emission/reception.
| int32_t Transfer::remaining |
Number of bytes which have not been buffered/transferred yet.
| uint8_t Transfer::reserved |
| int32_t Transfer::transferred |
Number of bytes which have been sent/received.
| uint8_t Transfer::transType |
Transfer type.
| uint16_t Transfer::transType |
Transfer type.


WWE Now goes live before Survivor Series
by WWE.comCathy Kelley and Mike Rome host a special live edition of WWE Now this Sunday to preview a loaded Survivor Series this Sunday at 3 p.m. ET/noon PT on Facebook, Twitter and YouTube.
Mere hours before challenging “The Fiend” Bray Wyatt for the Universal Championship, Daniel Bryan will join Kelley and Rome. Also appearing with exclusive insight will be SmackDown Women’s Champion Bayley ahead of her Triple Threat Match against Raw Women’s Champion Becky Lynch and NXT Women’s Champion Shayna Baszler, as well as Friday Night SmackDown’s Mustafa Ali as he prepares to compete on the SmackDown Survivor Series Team against Raw and NXT.
Check out this unique, live look at Superstars before Survivor Series!


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In this post I am going to talk about how RL concepts such as model based reinforcement learning, and model free reinforcement learning are similar and inspired from habitual and goal directed behaviors in psychology.
Habits, as mostly described by most psychologists, are behavioral patterns triggered by appropriate stimuli and then performed automatically. Goal driven behaviors, on the other hand, are inspired by the kind of goal one is reaching for and the relationships between actions and their outcomes. Habits are usually controlled by previous stimuli and goals are driven by their consequences. One of the issues related to habitual behavior is that it does not respond quickly to changes made in the environment.
In this sense, model free reinforcement learning is related to habitual behavior as it is also not open to change. If some thing changes in the environment, the agent has to traverse the environment many times again and again by obtaining rewards and in the same time updating its value function or policy.
But if we look at goal-based behavior, it is more open to changes and will adopt well if things change in the environment mainly because of planning. Model based reinforcement learning in the same way can accommodate changes easily. Any change in the environment will eventually change its policy right away and planning will help to predict the consequences of the changes that the agent has never experience before.
These concepts can be explained in a better way by showing the following example of a rat who is trying to navigate a maze which has rewards at its ultimate ends.
Left side of the figure shows the model free approach in which each state-action pair have rewards with them. These rewards have been gathered by completing the maze many times through trial and error. With this kind of method, rat just has to decide at each state the action with the largest reward.
Right side of the figure shows the model-based approach in which there is an environment model which includes states-actions-next states and a reward model which states the final rewards associated to each end. The rat in this method, can decide which way to turn at each state by using the model to simulate sequences of action choices to ﬁnd a path yielding the highest return in the end.
The values in the state action pairs of model free method are used by rat to take maximum rewarding action. In this specific example, rat will choose to L from S1 and then R from S2 to get a reward of 4. On the other hand, in model-based method, rat will choose L and then R to get the same reward of 4 provided the model used by it is accurate.
Another important result from experiments Adams(1982) shows that by following a goal driven approach for a long period of time will eventually result into habitual behavior. Research done by Daw, Niv and Dayan (2005) shows that animals use both model and model free based methodologies to take actions. But over the course of time, model free process is more used as it becomes more reliable after it has gained enough experience using trial and error methods. This suggests that with more experience an agent can shift from model-based to model free processes.
Both fields research has an effect on each other and progress in one will eventually help the other one to grow too. Reinforcement learning theory has aided simplify thinking about these issues and animal learning theories can help make better agents in the computational world.
This post was inspired from the book “Reinforcement Learning” by Richard S. Sutton and Andrew G. Barto.
References:
1. Image from Adapted from Trends in Cognitive Science, volume 10, number 8, Y. Niv, D. Joel, and P. Dayan, A Normative Perspective on Motivation, p. 376, 2006, with permission from Elsevier.


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---
layout: default
title: Presentations
---
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2015
- Physical mechanisms of tropical climate feedbacks revealed
by temperature and moisture trends, 15/04/15,
EGU General Assembly 2015, Vienna
doi:10.6084/m9.figshare.1335975
2014
- A risk-based framework for assessing the effectiveness of
stratospheric aerosol geoengineering, 14/11/14,
Exeter Climate Systems, University of Exeter
doi:10.6084/m9.figshare.1391976
2013
- Stratospheric dynamics in a geoengineered world, 28/10/13,
Department of Chemistry, University of Cambridge
doi:10.6084/m9.figshare.1391985


Before Change
// architecture
architecture_name = self.config_["architecture"]["name"]
models = __import__("pyannote.audio.labeling.models",
fromlist=[architecture_name])
Architecture = getattr(models, architecture_name)
self.model_ = Architecture(
n_features, n_classes,
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After Change
experiment_dir, db_yml=db_yml, training=training)
// task
Task = get_class_by_name(
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default_module_name="pyannote.audio.labeling.tasks")
self.task_ = Task(
**self.config_["task"].get("params", {}))
n_features = int(self.feature_extraction_.dimension)


A basic check that the configuration is consistent with the server specification.
- SSI is verified by checking if HTML elements, included via SSI, are present on the page.
- Availability of resources (base.html, prezo.js, and csrf.js) are verified by using an AJAX GET to successfully retrieve each resource.
Server Side Includes (SSI) {{config.ssi.message}}/prezo/fragments/base.html {{config.baseHtml.message}}/prezo/js/prezo.js {{config.prezoJS.message}}/prezo/js/csrf.js {{config.csrfJS.message}}Access to /prezo/support {{config.support.message}}


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by Creative Tim
by Creative Tim
We have worked over the original Bootstrap classes and added 2 more variations for black and white.
<button class="btn btn-default">Default</button> <button class="btn btn-primary">Primary</button> <button class="btn btn-info">Info</button> <button class="btn btn-success">Success</button> <button class="btn btn-warning">Warning</button> <button class="btn btn-danger">Danger</button> <button class="btn btn-black">Black</button> <button class="btn btn-white">White</button> <button class="btn btn-fill btn-default">Default</button> <button class="btn btn-fill btn-primary">Primary</button> <button class="btn btn-fill btn-info">Info</button> <button class="btn btn-fill btn-success">Success</button> <button class="btn btn-fill btn-warning">Warning</button> <button class="btn btn-fill btn-danger">Danger</button> <button class="btn btn-fill btn-black">Black</button> <button class="btn btn-fill btn-white">White</button>
<button href="#fakelink" class="btn ">Default Button</button> <button href="#fakelink" class="btn btn-fill">Filled Button</button> <button href="#fakelink" class="btn btn-round">Round Button</button> <button href="#fakelink" class="btn btn-simple">Simple Button</button>
<button href="#fakelink" class="btn btn-fill btn-xs">Download</button> <button href="#fakelink" class="btn btn-fill btn-sm">Download</button> <button href="#fakelink" class="btn btn-fill">Download</button> <button href="#fakelink" class="btn btn-fill btn-lg">Download</button>
If you want for text inside your pages to match the colour of the buttons, we have alsi created text classes.
Gray: In Greek mythology, Gaia was the personification of the Earth and one of the primordial deities.
Primary: In Greek mythology, Gaia was the personification of the Earth and one of the primordial deities.
Info: In Greek mythology, Gaia was the personification of the Earth and one of the primordial deities.
Success: In Greek mythology, Gaia was the personification of the Earth and one of the primordial deities.
Warning: In Greek mythology, Gaia was the personification of the Earth and one of the primordial deities.
Danger: In Greek mythology, Gaia was the personification of the Earth and one of the primordial deities.

Gray: In Greek mythology...

Primary: In Greek mythology...

Info: In Greek mythology...

Success: In Greek mythology...

Warning: In Greek mythology...

Danger: In Greek mythology...

All colour classes available for buttons can also be applied for simple links.
Default Primary Info Success Warning Danger Black WhiteDefault Primary Info Success Warning Danger Black White
You can choose the colors that comes with the same options as the buttons.
Default Primary Info Success Warning DangerDefault Primary Info Success Warning Danger
We have restyled the dropdown and added a more subtle animation. You can see a live example below. You can also add colors to the dropdown-menu adding the classes dropdown-[info/success/warning/danger]
.

  Regular

Action

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Action

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When you are creating the headers for the pages, you have multiple filter options. Since the majority of headers also need a title, it is best to add a filter over the image you are using. You have the option to use filters that are full colour or have gradient colours. The basic, black class is 'filter'. If you want to add full colour you can choose from one of the following classes 'filter-color-[black/gold/green/blue/purple]'. If you want to add filters with gradient colours, you can choose from the following classes filter-gradient-[black/gold/green/blue/purple]
.
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There are 202 Stroke Icons Handcrafted by our friends from Pixeden. View all icons here.

The general class for a card is called card
. All cards have also a plain version, without the background and shadow, and you can reach it by using the card-plain
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The blog cards are defined by the card-blog
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Feb 17

Nature & The Catch of the Day

Nature

Feb 17

Nature & The Catch of the Day

Nature

circle-black
like in this example:
Royère doesn't make a Polar bear bed but the Polar bear couch is my favorite piece of furniture we own The Pablo pop up was almost a pop up of influence.

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Royère doesn't make a Polar bear bed but the Polar bear couch is my favorite piece of furniture we own The Pablo pop up was almost a pop up of influence.

We created a special set of classes designed to help you create your price options in your website. The price cards are defined using the class card-price
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or card-white
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Our information areas are created using icons,a title and a description. The default color for the icon is grey and you can use other colors by using the corresponding class text-{ primary | info | success | warning | danger }
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We sketch your wardrobe down to the last detail and present it to you.

Each page from the archive is composed of parts called sections. Each section has modular information. As you will be able to see, there are sections that contain description, pictures, quotes, etc. Each section has 2 background possibilities. The default one, for the 'section' class is the white background. To use a gray background, you will need to add the 'section-gray' class.


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Bacon ipsum dolor amet ham hock jowl tenderloin, pork frankfurter sirloin bresaola porchetta kevin andouille tail leberkas ribeye landjaeger. Drumstick t-bone jerky sausage, bresaola tri-tip hamburger strip steak picanha. Alcatra porchetta venison, turkey tri-tip pork loin rump tail strip steak meatball short ribs pastrami ham hock tongue. Picanha pastrami porchetta beef ribs tenderloin t-bone chuck alcatra venison salami brisket shank capicola pork loin cupim. Filet mignon fatback short ribs shoulder meatloaf porchetta shank short loin frankfurter chuck rump jerky. Tongue kevin kielbasa picanha hamburger pork sirloin fatback pork chop drumstick ham ribeye short ribs beef. Short loin prosciutto sirloin fatback tri-tip kielbasa, andouille capicola.
Pork ribeye shankle hamburger cupim pig. Ground round capicola porchetta ham frankfurter jowl biltong meatloaf shoulder andouille bresaola hamburger. Flank pastrami venison ball tip filet mignon, leberkas sausage fatback andouille. Meatball doner pork loin corned beef jowl, flank short ribs filet mignon pork ham.  Meatloaf porchetta shankle meatball, doner frankfurter chuck cupim spare ribs burgdoggen salami tri-tip pancetta ham hock.
Fatback shankle swine doner boudin leberkas picanha shank short ribs turkey pancetta venison. Capicola t-bone doner, beef meatball brisket fatback beef ribs ribeye. Turkey fatback salami ribeye, picanha sirloin kevin shoulder. Jowl short loin venison t-bone cupim meatloaf kielbasa.


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These alignments are premade for regions of general interest.
Generate alignments for a custom genomic region.
From/To require HXB2 coordinates (both ends included).
NOTE: A few minutes might elapse while we prepare your data.


Informally a cellular automata (CA) is a mathematical model that consists of a discrete lattice of sites and a value, the state, that is updated in a sequence of discrete timestamps (steps) according to some logical rules that depend on a neighbor sites of the cell. Hence CA describe systems whose the overall behavior and evolution of the system may be exclusively described on the basis of local interactions [@wolfram1984], property also called centrism. The most stringent and typical characteristic of the CA-model is the restriction that the local function does not depend on the time t or the place i: a cellular automaton has homogeneous space/time behavior. It is for this reason that ca are sometimes referred to as shift-dynamical or translation invariant systems. From another point of view we can say that in each lattice site resides a finite state automaton62 that take as input only the states of the cells in its neighborhood (see figure [amod3Automata]).