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A STOMP task definition that allows injecting custom functions for planning.
STOMP’s task interface can be used for customizing the planning objective, in particular the code used for sampling new random trajectories and for computing costs and validity of waypoint candidates. In order to allow building generic planning tasks at runtime, the ComposableTask class enables combining generic function types for planning:
NoiseGeneratorFn: computes randomized paths
CostFn: computes waypoint costs and path validity
FilterFn: applies a filter to path waypoints
PostIterationFn: reports on planning progress at each iteration (see STOMP documentation)
DoneFn: reports on planning result when STOMP run terminates
Each of these functions use Eigen types for representing path and waypoints. The Eigen::MatrixXd ‘values’ refer to full path candidates where rows are the joint dimensions and columns are the waypoints. Accordingly, Eigen::VectorXd is used for representing cost values, one value for each waypoint.