chomp::ChompOptimizer Class Reference

#include <chomp_optimizer.h>

Public Member Functions
	ChompOptimizer (ChompTrajectory trajectory, planning_models::KinematicModel robot_model, const std::string &planning_group, const ChompParameters parameters, const ros::Publisher &vis_marker_array_publisher, const ros::Publisher &vis_marker_publisher, collision_proximity::CollisionProximitySpace collision_space)
void	destroy ()
template<typename Derived >
void	getJacobian (int trajectoryPoint, Vector3d &collision_point_pos, string &jointName, MatrixBase< Derived > &jacobian) const
void	optimize ()
virtual	~ChompOptimizer ()
Private Member Functions
void	addIncrementsToTrajectory ()
void	animateEndeffector ()
void	animatePath ()
void	calculateCollisionIncrements ()
void	calculatePseudoInverse ()
void	calculateSmoothnessIncrements ()
void	calculateTotalIncrements ()
bool	checkCurrentIterValidity ()
void	computeJointProperties (int trajectoryPoint)
void	debugCost ()
double	getCollisionCost ()
template<typename Derived >
void	getJacobian (int trajectoryPoint, Eigen::Vector3d &collision_point_pos, std::string &jointName, Eigen::MatrixBase< Derived > &jacobian) const
double	getPotential (double field_distance, double radius, double clearence)
void	getRandomMomentum ()
void	getRandomState (const planning_models::KinematicState *currentState, const std::string &groupName, Eigen::VectorXd &state_vec)
double	getSmoothnessCost ()
double	getTrajectoryCost ()
void	handleJointLimits ()
void	initialize ()
bool	isParent (const std::string &childLink, const std::string &parentLink) const
void	performForwardKinematics ()
void	perturbTrajectory ()
void	registerParents (const planning_models::KinematicModel::JointModel *model)
void	setRobotStateFromPoint (ChompTrajectory &group_trajectory, int i)
void	updateFullTrajectory ()
void	updateMomentum ()
void	updatePositionFromMomentum ()
void	visualizeState (int index)
Private Attributes
Eigen::MatrixXd	best_group_trajectory_
double	best_group_trajectory_cost_
int	collision_free_iteration_
Eigen::MatrixXd	collision_increments_
std::vector< std::vector < Eigen::Vector3d > >	collision_point_acc_eigen_
std::vector< std::vector < std::string > >	collision_point_joint_names_
std::vector< std::vector < Eigen::Vector3d > >	collision_point_pos_eigen_
std::vector< std::vector < double > >	collision_point_potential_
std::vector< std::vector < Eigen::Vector3d > >	collision_point_potential_gradient_
std::vector< std::vector < Eigen::Vector3d > >	collision_point_vel_eigen_
std::vector< std::vector < double > >	collision_point_vel_mag_
collision_proximity::CollisionProximitySpace *	collision_space_
Eigen::MatrixXd	final_increments_
int	free_vars_end_
int	free_vars_start_
ChompTrajectory *	full_trajectory_
ChompTrajectory	group_trajectory_
Eigen::MatrixXd	group_trajectory_backup_
bool	is_collision_free_
int	iteration_
Eigen::MatrixXd	jacobian_
Eigen::MatrixXd	jacobian_jacobian_tranpose_
Eigen::MatrixXd	jacobian_pseudo_inverse_
std::vector< std::vector < btVector3 > >	joint_axes_
std::vector< ChompCost >	joint_costs_
std::vector< std::string >	joint_names_
std::map< std::string, std::map< std::string, bool > >	joint_parent_map_
std::vector< std::vector < btVector3 > >	joint_positions_
Eigen::VectorXd	joint_state_velocities_
int	last_improvement_iteration_
Eigen::MatrixXd	momentum_
std::vector< MultivariateGaussian >	multivariate_gaussian_
int	num_collision_points_
int	num_joints_
int	num_vars_all_
int	num_vars_free_
const ChompParameters *	parameters_
const std::string &	planning_group_
std::vector< std::vector< int > >	point_is_in_collision_
Eigen::VectorXd	random_joint_momentum_
Eigen::MatrixXd	random_momentum_
Eigen::VectorXd	random_state_
planning_models::KinematicModel *	robot_model_
planning_models::KinematicState *	robot_state_
Eigen::VectorXd	smoothness_derivative_
Eigen::MatrixXd	smoothness_increments_
std::vector< int >	state_is_in_collision_
double	stochasticity_factor_
ros::Publisher	vis_marker_array_pub_
ros::Publisher	vis_marker_pub_
double	worst_collision_cost_state_

Detailed Description

Definition at line 54 of file chomp_optimizer.h.

Constructor & Destructor Documentation

chomp::ChompOptimizer::ChompOptimizer	(	ChompTrajectory *	trajectory,
		planning_models::KinematicModel *	robot_model,
		const std::string &	planning_group,
		const ChompParameters *	parameters,
		const ros::Publisher &	vis_marker_array_publisher,
		const ros::Publisher &	vis_marker_publisher,
		collision_proximity::CollisionProximitySpace *	collision_space
	)

chomp::ChompOptimizer::~ChompOptimizer ( ) [virtual]

Definition at line 253 of file chomp_optimizer.cpp.

Member Function Documentation

void chomp::ChompOptimizer::addIncrementsToTrajectory ( ) [private]

Definition at line 623 of file chomp_optimizer.cpp.

void chomp::ChompOptimizer::animateEndeffector ( ) [private]

Definition at line 1044 of file chomp_optimizer.cpp.

void chomp::ChompOptimizer::animatePath ( ) [private]

Definition at line 1034 of file chomp_optimizer.cpp.

void chomp::ChompOptimizer::calculateCollisionIncrements ( ) [private]

Definition at line 529 of file chomp_optimizer.cpp.

void chomp::ChompOptimizer::calculatePseudoInverse ( ) [private]

Definition at line 605 of file chomp_optimizer.cpp.

void chomp::ChompOptimizer::calculateSmoothnessIncrements ( ) [private]

Definition at line 519 of file chomp_optimizer.cpp.

void chomp::ChompOptimizer::calculateTotalIncrements ( ) [private]

Definition at line 612 of file chomp_optimizer.cpp.

bool chomp::ChompOptimizer::checkCurrentIterValidity ( ) [private]

Definition at line 487 of file chomp_optimizer.cpp.

void chomp::ChompOptimizer::computeJointProperties ( int trajectoryPoint ) [private]

Definition at line 701 of file chomp_optimizer.cpp.

void chomp::ChompOptimizer::debugCost ( ) [private]

Definition at line 652 of file chomp_optimizer.cpp.

void chomp::ChompOptimizer::destroy ( ) [inline]

Definition at line 66 of file chomp_optimizer.h.

double chomp::ChompOptimizer::getCollisionCost ( ) [private]

Definition at line 675 of file chomp_optimizer.cpp.

template<typename Derived >

void chomp::ChompOptimizer::getJacobian	(	int	trajectoryPoint,
		Vector3d &	collision_point_pos,
		string &	jointName,
		MatrixBase< Derived > &	jacobian
	)			const `[inline]`

Definition at line 741 of file chomp_optimizer.cpp.

template<typename Derived >

void chomp::ChompOptimizer::getJacobian	(	int	trajectoryPoint,
		Eigen::Vector3d &	collision_point_pos,
		std::string &	jointName,
		Eigen::MatrixBase< Derived > &	jacobian
	)			const `[inline, private]`

double chomp::ChompOptimizer::getPotential	(	double	field_distance,
		double	radius,
		double	clearence
	)			`[inline, private]`

Definition at line 72 of file chomp_optimizer.h.

void chomp::ChompOptimizer::getRandomMomentum ( ) [private]

Definition at line 1005 of file chomp_optimizer.cpp.

void chomp::ChompOptimizer::getRandomState	(	const planning_models::KinematicState *	currentState,
		const std::string &	groupName,
		Eigen::VectorXd &	state_vec
	)			`[private]`