added DMPS.msg

src/active_bo_msgs/CMakeLists.txt

@@ -18,6 +18,7 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
+find_package(geometry_msgs REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
     "srv/WeightToPolicy.srv"
@@ -33,7 +34,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
     "msg/ActiveRLEvalResponse.msg"
     "msg/ImageFeedback.msg"
     "msg/ActiveBOState.msg"
-
+    "msg/DMP.msg"
+    DEPENDENCIES geometry_msgs
 )
 
 if(BUILD_TESTING)

src/active_bo_msgs/msg/DMP.msg

@@ -0,0 +1,13 @@
+# Start- and endpoint, time to perform the trajectory
+geometry_msgs/Pose start_point
+geometry_msgs/Pose end_point
+float64 time
+
+# weights for the dimensions of the Pose (3 Position, 4 Orientation)
+float64[] p_x
+float64[] p_y
+float64[] p_z
+float64[] o_x
+float64[] o_y
+float64[] o_z
+float64[] o_w

src/active_bo_msgs/package.xml

@@ -7,6 +7,8 @@
   <maintainer email="nikolaus.feith@unileoben.ac.at">cpsfeith</maintainer>
   <license>TODO: License declaration</license>
 
+  <depend>geometry_msgs</depend>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>rosidl_default_generators</build_depend>

src/active_bo_ros/active_bo_ros/AcquisitionFunctions/ConfidenceBound.py

@@ -1,3 +1,4 @@
+
 import numpy as np
 
 

src/active_bo_ros/active_bo_ros/PolicyModel/GaussianModelMultiDim.py

@@ -1,3 +1,4 @@
+
 import numpy as np