Function stomp_moveit::noise::getNormalDistributionGenerator

Function Documentation

NoiseGeneratorFn stomp_moveit::noise::getNormalDistributionGenerator(size_t num_timesteps, const std::vector<double> &stddev)

Creates a noise generator function that applies noise sampled from a normal distribution. The noise is applied over a matrix of size (num_timesteps, stddev.size()) which corresponds to the matrix representation of a robot trajectory.

  • num_timesteps – the waypoint count of the trajectory

  • stddev – the standard deviation for each variable dimension (number of joints)