LPV

This package provides a c++ library for Gaussian Mixtire Model (GMM) based Linear Parameter Varying (LPV) systems .

Dependences

• Eigen http://eigen.tuxfamily.org/index.php?title=Main_Page

Features:

Implementation of GMM and LPV!

How to run LPV

By initializing the LPV system, a GMM is aoutomatically constracted.

Initialization:

LPV.initialize(int Num_Com,int Num_state);

Num_Com is the number of the components and Num_state is the dimension of the system

LPV.initialize_A(const char *path_);
LPV.initialize_theta(const char *path_prior_,const char *path_mu_,const char *path_sigma_);

In the loop:

LPV.Calculate_A(VectorXd X)

How to run GMM (without LPV!)

By initializing the LPV system, a GMM is aoutomatically constracted.

Initialization:

GMM.initialize(int Num_Com,int Num_state);

Num_Com is the number of the components and Num_state is the dimension of the system

GMM.initialize_GMM(const char  *path_prior_,const char  *path_mu_,const char  *path_sigma_,const char *path_threshold);

In the loop:

GMM.PDF(VectorXd X)

For more information contact Sina Mirrazavi.

Copyright

Please cite these papers if you are using this toolbox:

@ARTICLE{7439839, author={S. S. M. Salehian and M. Khoramshahi and A. Billard}, journal={IEEE Transactions on Robotics}, title={A Dynamical System Approach for Softly Catching a Flying Object: Theory and Experiment}, year={2016}, volume={32}, number={2}, pages={462-471}, ISSN={1552-3098}, month={April},}