chomp_parameters.h
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00037 #ifndef CHOMP_PARAMETERS_H_ 00038 #define CHOMP_PARAMETERS_H_ 00039 00040 #include <ros/ros.h> 00041 00042 namespace chomp 00043 { 00044 00045 class ChompParameters 00046 { 00047 public: 00048 ChompParameters(); 00049 virtual ~ChompParameters(); 00050 00051 void initFromNodeHandle(); 00052 00053 double getPlanningTimeLimit() const; 00054 void setPlanningTimeLimit(double planning_time_limit); 00055 int getMaxIterations() const; 00056 int getMaxIterationsAfterCollisionFree() const; 00057 double getSmoothnessCostWeight() const; 00058 double getObstacleCostWeight() const; 00059 bool getAnimatePath() const; 00060 double getLearningRate() const; 00061 double getSmoothnessCostVelocity() const; 00062 double getSmoothnessCostAcceleration() const; 00063 double getSmoothnessCostJerk() const; 00064 bool getAddRandomness() const; 00065 bool getUseHamiltonianMonteCarlo() const; 00066 double getHmcDiscretization() const; 00067 double getHmcStochasticity() const; 00068 double getHmcAnnealingFactor() const; 00069 double getRidgeFactor() const; 00070 bool getUsePseudoInverse() const; 00071 double getPseudoInverseRidgeFactor() const; 00072 bool getAnimateEndeffector() const; 00073 std::string getAnimateEndeffectorSegment() const; 00074 double getJointUpdateLimit() const; 00075 double getMinClearence() const; 00076 double getCollisionThreshold() const; 00077 bool getFilterMode() const; 00078 void setFilterMode(bool mode); 00079 double getRandomJumpAmount() const; 00080 void setRandomJumpAmount(double amount); 00081 bool getUseStochasticDescent() const; 00082 00083 private: 00084 double planning_time_limit_; 00085 int max_iterations_; 00086 int max_iterations_after_collision_free_; 00087 double smoothness_cost_weight_; 00088 double obstacle_cost_weight_; 00089 double learning_rate_; 00090 bool animate_path_; 00091 double smoothness_cost_velocity_; 00092 double smoothness_cost_acceleration_; 00093 double smoothness_cost_jerk_; 00094 bool add_randomness_; 00095 bool use_hamiltonian_monte_carlo_; 00096 bool use_stochastic_descent_; 00097 double hmc_stochasticity_; 00098 double hmc_discretization_; 00099 double hmc_annealing_factor_; 00100 double ridge_factor_; 00101 bool use_pseudo_inverse_; 00102 double pseudo_inverse_ridge_factor_; 00103 bool animate_endeffector_; 00104 std::string animate_endeffector_segment_; 00105 double joint_update_limit_; 00106 double min_clearence_; 00107 double collision_threshold_; 00108 bool filter_mode_; 00109 double random_jump_amount_; 00110 }; 00111 00113 00114 inline double ChompParameters::getRandomJumpAmount() const 00115 { 00116 return random_jump_amount_; 00117 } 00118 00119 inline void ChompParameters::setRandomJumpAmount(double amount) 00120 { 00121 random_jump_amount_ = amount; 00122 } 00123 00124 inline double ChompParameters::getCollisionThreshold() const 00125 { 00126 return collision_threshold_; 00127 } 00128 00129 inline bool ChompParameters::getFilterMode() const 00130 { 00131 return filter_mode_; 00132 } 00133 00134 inline void ChompParameters::setFilterMode(bool mode) 00135 { 00136 filter_mode_ = mode; 00137 } 00138 00139 inline double ChompParameters::getMinClearence() const 00140 { 00141 return min_clearence_; 00142 } 00143 00144 inline double ChompParameters::getJointUpdateLimit() const 00145 { 00146 return joint_update_limit_; 00147 } 00148 00149 inline double ChompParameters::getPlanningTimeLimit() const 00150 { 00151 return planning_time_limit_; 00152 } 00153 00154 inline void ChompParameters::setPlanningTimeLimit(double planning_time_limit) 00155 { 00156 planning_time_limit_ = planning_time_limit; 00157 } 00158 00159 inline int ChompParameters::getMaxIterations() const 00160 { 00161 return max_iterations_; 00162 } 00163 00164 inline int ChompParameters::getMaxIterationsAfterCollisionFree() const 00165 { 00166 return max_iterations_after_collision_free_; 00167 } 00168 00169 inline double ChompParameters::getSmoothnessCostWeight() const 00170 { 00171 return smoothness_cost_weight_; 00172 } 00173 00174 inline double ChompParameters::getObstacleCostWeight() const 00175 { 00176 return obstacle_cost_weight_; 00177 } 00178 00179 inline double ChompParameters::getLearningRate() const 00180 { 00181 return learning_rate_; 00182 } 00183 00184 inline bool ChompParameters::getAnimatePath() const 00185 { 00186 return animate_path_; 00187 } 00188 00189 inline bool ChompParameters::getAddRandomness() const 00190 { 00191 return add_randomness_; 00192 } 00193 00194 inline double ChompParameters::getSmoothnessCostVelocity() const 00195 { 00196 return smoothness_cost_velocity_; 00197 } 00198 00199 inline double ChompParameters::getSmoothnessCostAcceleration() const 00200 { 00201 return smoothness_cost_acceleration_; 00202 } 00203 00204 inline double ChompParameters::getSmoothnessCostJerk() const 00205 { 00206 return smoothness_cost_jerk_; 00207 } 00208 00209 inline double ChompParameters::getHmcDiscretization() const 00210 { 00211 return hmc_discretization_; 00212 } 00213 00214 inline double ChompParameters::getHmcStochasticity() const 00215 { 00216 return hmc_stochasticity_; 00217 } 00218 00219 inline double ChompParameters::getHmcAnnealingFactor() const 00220 { 00221 return hmc_annealing_factor_; 00222 } 00223 00224 inline bool ChompParameters::getUseHamiltonianMonteCarlo() const 00225 { 00226 return use_hamiltonian_monte_carlo_; 00227 } 00228 00229 inline double ChompParameters::getRidgeFactor() const 00230 { 00231 return ridge_factor_; 00232 } 00233 00234 inline bool ChompParameters::getUsePseudoInverse() const 00235 { 00236 return use_pseudo_inverse_; 00237 } 00238 00239 inline double ChompParameters::getPseudoInverseRidgeFactor() const 00240 { 00241 return pseudo_inverse_ridge_factor_; 00242 } 00243 00244 inline bool ChompParameters::getAnimateEndeffector() const 00245 { 00246 return animate_endeffector_; 00247 } 00248 00249 inline bool ChompParameters::getUseStochasticDescent() const 00250 { 00251 return use_stochastic_descent_; 00252 } 00253 00254 inline std::string ChompParameters::getAnimateEndeffectorSegment() const 00255 { 00256 return animate_endeffector_segment_; 00257 } 00258 00259 } // namespace chomp 00260 00261 #endif /* CHOMP_PARAMETERS_H_ */