movement_primitives.dmp.WeightParametersMixin

class movement_primitives.dmp.WeightParametersMixin

Bases: object

Mixin class providing common access methods to forcing term weights.

This can be used, for instance, for black-box optimization of the weights with respect to some cost / objective function in a reinforcement learning setting.

Attributes:

n_weights

Total number of weights configuring the forcing term.

Methods

get_weights()	Get weight vector of DMP.
set_weights(weights)	Set weight vector of DMP.

__init__(*args, **kwargs)

Methods

__init__(*args, **kwargs)
get_weights()	Get weight vector of DMP.
set_weights(weights)	Set weight vector of DMP.

Attributes

n_weights

Total number of weights configuring the forcing term.

get_weights()

Get weight vector of DMP.

Returns:

weightsarray, shape (N * n_weights_per_dim,)

Current weights of the DMP. N depends on the type of DMP

property n_weights

Total number of weights configuring the forcing term.

set_weights(weights)

Set weight vector of DMP.

Parameters:

weightsarray, shape (N * n_weights_per_dim,)

New weights of the DMP. N depends on the type of DMP