chomp::ChompParameters Class Reference

#include <chomp_parameters.h>

List of all members.

Public Member Functions
	ChompParameters ()
bool	getAddRandomness () const
bool	getAnimateEndeffector () const
std::string	getAnimateEndeffectorSegment () const
bool	getAnimatePath () const
double	getCollisionThreshold () const
bool	getFilterMode () const
double	getHmcAnnealingFactor () const
double	getHmcDiscretization () const
double	getHmcStochasticity () const
double	getJointUpdateLimit () const
double	getLearningRate () const
int	getMaxIterations () const
int	getMaxIterationsAfterCollisionFree () const
double	getMinClearence () const
double	getObstacleCostWeight () const
double	getPlanningTimeLimit () const
double	getPseudoInverseRidgeFactor () const
double	getRandomJumpAmount () const
double	getRidgeFactor () const
double	getSmoothnessCostAcceleration () const
double	getSmoothnessCostJerk () const
double	getSmoothnessCostVelocity () const
double	getSmoothnessCostWeight () const
bool	getUseHamiltonianMonteCarlo () const
bool	getUsePseudoInverse () const
bool	getUseStochasticDescent () const
void	initFromNodeHandle ()
void	setFilterMode (bool mode)
void	setPlanningTimeLimit (double planning_time_limit)
void	setRandomJumpAmount (double amount)
virtual	~ChompParameters ()
Private Attributes
bool	add_randomness_
bool	animate_endeffector_
std::string	animate_endeffector_segment_
bool	animate_path_
double	collision_threshold_
bool	filter_mode_
double	hmc_annealing_factor_
double	hmc_discretization_
double	hmc_stochasticity_
double	joint_update_limit_
double	learning_rate_
int	max_iterations_
int	max_iterations_after_collision_free_
double	min_clearence_
double	obstacle_cost_weight_
double	planning_time_limit_
double	pseudo_inverse_ridge_factor_
double	random_jump_amount_
double	ridge_factor_
double	smoothness_cost_acceleration_
double	smoothness_cost_jerk_
double	smoothness_cost_velocity_
double	smoothness_cost_weight_
bool	use_hamiltonian_monte_carlo_
bool	use_pseudo_inverse_
bool	use_stochastic_descent_

---

Detailed Description

Definition at line 45 of file chomp_parameters.h.

---

Constructor & Destructor Documentation

chomp::ChompParameters::ChompParameters

(

)

Definition at line 42 of file chomp_parameters.cpp.

chomp::ChompParameters::~ChompParameters

(

)

[virtual]

Definition at line 46 of file chomp_parameters.cpp.

---

Member Function Documentation

bool chomp::ChompParameters::getAddRandomness

(

)

const [inline]

Definition at line 189 of file chomp_parameters.h.

bool chomp::ChompParameters::getAnimateEndeffector

(

)

const [inline]

Definition at line 244 of file chomp_parameters.h.

std::string chomp::ChompParameters::getAnimateEndeffectorSegment

(

)

const [inline]

Definition at line 254 of file chomp_parameters.h.

bool chomp::ChompParameters::getAnimatePath

(

)

const [inline]

Definition at line 184 of file chomp_parameters.h.

double chomp::ChompParameters::getCollisionThreshold

(

)

const [inline]

Definition at line 124 of file chomp_parameters.h.

bool chomp::ChompParameters::getFilterMode

(

)

const [inline]

Definition at line 129 of file chomp_parameters.h.

double chomp::ChompParameters::getHmcAnnealingFactor

(

)

const [inline]

Definition at line 219 of file chomp_parameters.h.

double chomp::ChompParameters::getHmcDiscretization

(

)

const [inline]

Definition at line 209 of file chomp_parameters.h.

double chomp::ChompParameters::getHmcStochasticity

(

)

const [inline]

Definition at line 214 of file chomp_parameters.h.

double chomp::ChompParameters::getJointUpdateLimit

(

)

const [inline]

Definition at line 144 of file chomp_parameters.h.

double chomp::ChompParameters::getLearningRate

(

)

const [inline]

Definition at line 179 of file chomp_parameters.h.

int chomp::ChompParameters::getMaxIterations

(

)

const [inline]

Definition at line 159 of file chomp_parameters.h.

int chomp::ChompParameters::getMaxIterationsAfterCollisionFree

(

)

const [inline]

Definition at line 164 of file chomp_parameters.h.

double chomp::ChompParameters::getMinClearence

(

)

const [inline]

Definition at line 139 of file chomp_parameters.h.

double chomp::ChompParameters::getObstacleCostWeight

(

)

const [inline]

Definition at line 174 of file chomp_parameters.h.

double chomp::ChompParameters::getPlanningTimeLimit

(

)

const [inline]

Definition at line 149 of file chomp_parameters.h.

double chomp::ChompParameters::getPseudoInverseRidgeFactor

(

)

const [inline]

Definition at line 239 of file chomp_parameters.h.

double chomp::ChompParameters::getRandomJumpAmount

(

)

const [inline]

Definition at line 114 of file chomp_parameters.h.

double chomp::ChompParameters::getRidgeFactor

(

)

const [inline]

Definition at line 229 of file chomp_parameters.h.

double chomp::ChompParameters::getSmoothnessCostAcceleration

(

)

const [inline]

Definition at line 199 of file chomp_parameters.h.

double chomp::ChompParameters::getSmoothnessCostJerk

(

)

const [inline]

Definition at line 204 of file chomp_parameters.h.

double chomp::ChompParameters::getSmoothnessCostVelocity

(

)

const [inline]

Definition at line 194 of file chomp_parameters.h.

double chomp::ChompParameters::getSmoothnessCostWeight

(

)

const [inline]

Definition at line 169 of file chomp_parameters.h.

bool chomp::ChompParameters::getUseHamiltonianMonteCarlo

(

)

const [inline]

Definition at line 224 of file chomp_parameters.h.

bool chomp::ChompParameters::getUsePseudoInverse

(

)

const [inline]

Definition at line 234 of file chomp_parameters.h.

bool chomp::ChompParameters::getUseStochasticDescent

(

)

const [inline]

Definition at line 249 of file chomp_parameters.h.

void chomp::ChompParameters::initFromNodeHandle

(

)

Definition at line 50 of file chomp_parameters.cpp.

void chomp::ChompParameters::setFilterMode

(

bool

mode

)

[inline]

Definition at line 134 of file chomp_parameters.h.

void chomp::ChompParameters::setPlanningTimeLimit

(

double

planning_time_limit

)

[inline]

Definition at line 154 of file chomp_parameters.h.

void chomp::ChompParameters::setRandomJumpAmount

(

double

amount

)

[inline]

Definition at line 119 of file chomp_parameters.h.

---

Member Data Documentation

bool chomp::ChompParameters::add_randomness_ [private]

Definition at line 94 of file chomp_parameters.h.

bool chomp::ChompParameters::animate_endeffector_ [private]

Definition at line 103 of file chomp_parameters.h.

std::string chomp::ChompParameters::animate_endeffector_segment_ [private]

Definition at line 104 of file chomp_parameters.h.

bool chomp::ChompParameters::animate_path_ [private]

Definition at line 90 of file chomp_parameters.h.

double chomp::ChompParameters::collision_threshold_ [private]

Definition at line 107 of file chomp_parameters.h.

bool chomp::ChompParameters::filter_mode_ [private]

Definition at line 108 of file chomp_parameters.h.

double chomp::ChompParameters::hmc_annealing_factor_ [private]

Definition at line 99 of file chomp_parameters.h.

double chomp::ChompParameters::hmc_discretization_ [private]

Definition at line 98 of file chomp_parameters.h.

double chomp::ChompParameters::hmc_stochasticity_ [private]

Definition at line 97 of file chomp_parameters.h.

double chomp::ChompParameters::joint_update_limit_ [private]

Definition at line 105 of file chomp_parameters.h.

double chomp::ChompParameters::learning_rate_ [private]

Definition at line 89 of file chomp_parameters.h.

int chomp::ChompParameters::max_iterations_ [private]

Definition at line 85 of file chomp_parameters.h.

int chomp::ChompParameters::max_iterations_after_collision_free_ [private]

Definition at line 86 of file chomp_parameters.h.

double chomp::ChompParameters::min_clearence_ [private]

Definition at line 106 of file chomp_parameters.h.

double chomp::ChompParameters::obstacle_cost_weight_ [private]

Definition at line 88 of file chomp_parameters.h.

double chomp::ChompParameters::planning_time_limit_ [private]

Definition at line 84 of file chomp_parameters.h.

double chomp::ChompParameters::pseudo_inverse_ridge_factor_ [private]

Definition at line 102 of file chomp_parameters.h.

double chomp::ChompParameters::random_jump_amount_ [private]

Definition at line 109 of file chomp_parameters.h.

double chomp::ChompParameters::ridge_factor_ [private]

Definition at line 100 of file chomp_parameters.h.

double chomp::ChompParameters::smoothness_cost_acceleration_ [private]

Definition at line 92 of file chomp_parameters.h.

double chomp::ChompParameters::smoothness_cost_jerk_ [private]

Definition at line 93 of file chomp_parameters.h.

double chomp::ChompParameters::smoothness_cost_velocity_ [private]

Definition at line 91 of file chomp_parameters.h.

double chomp::ChompParameters::smoothness_cost_weight_ [private]

Definition at line 87 of file chomp_parameters.h.

bool chomp::ChompParameters::use_hamiltonian_monte_carlo_ [private]

Definition at line 95 of file chomp_parameters.h.

bool chomp::ChompParameters::use_pseudo_inverse_ [private]

Definition at line 101 of file chomp_parameters.h.

bool chomp::ChompParameters::use_stochastic_descent_ [private]

Definition at line 96 of file chomp_parameters.h.

---

The documentation for this class was generated from the following files:

• chomp_parameters.h
• chomp_parameters.cpp