About output "ground-truth"

[Galfon]

Thanks a lot for your open source Program，it really helps me a lot.
hey，i am not sure wether you use tabel "ground-truth" as data produced base the GMP
and i want to know if the produced GMP is the Reversible Dynamic Movement Primitives.
Thank you again for your help. Please forgive me if I disturb you.

[Slifer64]

• The label "ground-truth" denotes the scaled-generalized trajectory that should be produced, given a new target/final position and/or time duration (temporal scaling).
• GMP is the implementation of the Dynamic Movement Primitives described in the relevant paper "A Reversible Dynamic Movement Primitive formulation".

[Galfon]

Thanks for your response， it really helps me a lot.
However, having read the paper again,
I want to know if I can get the reversible trajectory using your open source Program.
Thank you again for your help.

[Slifer64]

Sure you can. Simply reverse the evolution of the canonical system.
For a 2nd order canonical system, flip the sign of the reference speed of the phase variable evolution (check eq. (18) in the paper).
For a 1st order canonical system "... the sign of ̇x needs to be flipped, i.e. x_dot = -h(x) / tau"