dmp.cc

#include "dmp.h"
#include <iostream>
#include <armadillo>
using namespace arma;
using namespace std;

Dmp::Dmp(mat w, mat g, double t) : weights(w), goal(g), tau(t) {}

mat Dmp::getW() const {
	return weights;
}

mat Dmp::getG() const {
	return goal;
}

double Dmp::getT() const {
	return tau;
}

void Dmp::setG(mat g) {
	goal = g;
}

void Dmp::setT(double t) {
	tau = t;
}

Dmp& Dmp::doubleSpeed() {
	tau = tau/2;
	return *this;
}

Dmp& Dmp::speedupTimes(int x) {
	tau = tau/x;
	return *this;
}



ostream& operator<<(ostream& os, const Dmp& dmp) {
	os << "Weights = " << dmp.weights << endl;
	os << "Goal = " << dmp.goal << endl;
	os << "Tau = " << dmp.tau << endl;
	
	return os;
}