chomp_parameters.cpp

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#include <chomp_motion_planner/chomp_parameters.h>

namespace chomp
{

ChompParameters::ChompParameters()
{
}

ChompParameters::~ChompParameters()
{
}

void ChompParameters::initFromNodeHandle()
{
  ros::NodeHandle node_handle("~");
  node_handle.param("planning_time_limit", planning_time_limit_, 6.0);
  node_handle.param("max_iterations", max_iterations_, 50);
  node_handle.param("max_iterations_after_collision_free", max_iterations_after_collision_free_, 5);
  node_handle.param("smoothness_cost_weight", smoothness_cost_weight_, 0.1);
  node_handle.param("obstacle_cost_weight", obstacle_cost_weight_, 1.0);
  node_handle.param("learning_rate", learning_rate_, 0.01);
  node_handle.param("animate_path", animate_path_, true);
  node_handle.param("add_randomness", add_randomness_, false);
  node_handle.param("smoothness_cost_velocity", smoothness_cost_velocity_, 0.0);
  node_handle.param("smoothness_cost_acceleration", smoothness_cost_acceleration_, 1.0);
  node_handle.param("smoothness_cost_jerk", smoothness_cost_jerk_, 0.0);
  node_handle.param("hmc_discretization", hmc_discretization_, 0.01);
  node_handle.param("hmc_stochasticity", hmc_stochasticity_, 0.01);
  node_handle.param("hmc_annealing_factor", hmc_annealing_factor_, 0.99);
  node_handle.param("use_hamiltonian_monte_carlo", use_hamiltonian_monte_carlo_, false);
  node_handle.param("ridge_factor", ridge_factor_, 0.0);
  node_handle.param("use_pseudo_inverse", use_pseudo_inverse_, false);
  node_handle.param("pseudo_inverse_ridge_factor", pseudo_inverse_ridge_factor_, 1e-4);
  node_handle.param("animate_endeffector", animate_endeffector_, false);
  node_handle.param("animate_endeffector_segment", animate_endeffector_segment_, std::string("r_gripper_tool_frame"));
  node_handle.param("joint_update_limit", joint_update_limit_, 0.1);
  node_handle.param("collision_clearence", min_clearence_, 0.2);
  node_handle.param("collision_threshold", collision_threshold_, 0.07);
  node_handle.param("random_jump_amount", random_jump_amount_, 1.0);
  node_handle.param("use_stochastic_descent", use_stochastic_descent_, true);
  filter_mode_ = false;
}


} // namespace chomp