dlCHOMPDatastore

Datastore for training and validating deep-learning-based CHOMP optimizer

Since R2024a

Description

The dlCHOMPDatastore object creates a custom datastore for training and validating a dlCHOMP object. Use a dlCHOMPDatastore object to manage a collection of data sample JSON files. You can create a dlCHOMPDatastore object, specify its properties, and then import and process the data using the object functions of dlCHOMPDatastore.

Creation

Syntax

DS = dlCHOMPDatastore(folderpath,sampleidxs)

[trainingDS,validationDS] = generateSamples(___)

Description

DS = dlCHOMPDatastore(folderpath,sampleidxs) creates a DLCHOMP datastore that stores data sample JSON files with the specified indices in the specified folder. The names of the JSON files must match the format name_index.json, where index is a positive integer specifying the index of the data sample.

[trainingDS,validationDS] = generateSamples(___) generates training and validation data samples as dlCHOMPDatastore objects for training with the trainDLCHOMP function, using the input arguments from the previous syntax. For more information about how to generate samples, see Train Deep-Learning-Based CHOMP Optimizer for Motion Planning.

The dlCHOMPDatastore object requires Deep Learning Toolbox™.

Input Arguments

folderpath — Folder path to stored data sample JSON files

string scalar | character array

Folder path to the stored data sample JSON files, specified as a string scalar or character array.

JSON data files in the specified folder must have these fields:

• SphericalObstacles.centers — Center positions of spherical obstacles, specified as an N-by-3 matrix, where each row is the xyz-position of a spherical obstacle. N is the total number of spherical obstacles.

• SphericalObstacles.radius — Radii of spherical obstacles, specified as an N-element row vector. N is the total number of spherical obstacles.

• Trajectory — Optimized waypoints trajectory returned by optimize, specified as a W-by-M matrix. W is the number of waypoints and M is the number of movable joints of the rigid body tree. The trajectory must include the start and goal waypoints as the first and last waypoints in the matrix, respectively.

• Encoding — Obstacle encoding, specified as an E-element column vector. E is the size of the basis point set.

Data Types: string | char

sampleidxs — JSON files to include in datastore

N-element vector of positive integers

JSON files to include in the datastore, specified as an N-element vector of positive integers. Each element specifies the index of a JSON file in the specified folder folderpath.

Properties

FileSet — File set for managing data sample JSON files

DsFileSet object

This property is read-only.

File set for managing the data sample JSON files, stored as a DsFileSet object.

This property stores the full file paths to all the data sample JSON files in the dlCHOMPDatastore.

AlternateFileSystemRoots — File set for managing data sample JSON files

string vector | cell array

This property is read-only.

Alternate file system root paths, specified as a string vector or a cell array. See the AlternateFileSystemRoots property of matlab.io.datastore.FileSet for more information.

Object Functions

read	Read data from datastore
readall	Read all data in datastore
hasdata	Determine if data is available to read
reset	Reset datastore to initial state
preview	Preview subset of data in datastore
progress	Determine how much data has been read
combine	Combine data from multiple datastores
transform	Transform datastore
isPartitionable	Determine whether datastore is partitionable
isSubsettable	Determine whether datastore is subsettable
isShuffleable	Determine whether datastore is shuffleable

Version History

Introduced in R2024a