Public Member Functions
stomp_moveit::noise_generators::StompNoiseGenerator Class Reference

#include <stomp_noise_generator.h>

Inheritance diagram for stomp_moveit::noise_generators::StompNoiseGenerator:
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List of all members.

Public Member Functions

virtual bool configure (const XmlRpc::XmlRpcValue &config)=0
 Sets internal members of the plugin from the configuration data.
virtual void done (bool success, int total_iterations, double final_cost, const Eigen::MatrixXd &parameters)
 Called by the STOMP instance at the end of the optimization process.
virtual bool generateNoise (const Eigen::MatrixXd &parameters, std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::MatrixXd &parameters_noise, Eigen::MatrixXd &noise)=0
 Generates a noisy trajectory from the parameters.
virtual std::string getGroupName () const
virtual std::string getName () const
virtual bool initialize (moveit::core::RobotModelConstPtr robot_model_ptr, const std::string &group_name, const XmlRpc::XmlRpcValue &config)=0
 Initializes and configures.
virtual void postIteration (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, double cost, const Eigen::MatrixXd &parameters)
 Called by STOMP at the end of each iteration.
virtual bool setMotionPlanRequest (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::MotionPlanRequest &req, const stomp_core::StompConfiguration &config, moveit_msgs::MoveItErrorCodes &error_code)=0
 Stores the planning details.
 StompNoiseGenerator ()
virtual ~StompNoiseGenerator ()

Detailed Description

Definition at line 53 of file stomp_noise_generator.h.


Constructor & Destructor Documentation

Definition at line 56 of file stomp_noise_generator.h.

Definition at line 57 of file stomp_noise_generator.h.


Member Function Documentation

Sets internal members of the plugin from the configuration data.

Parameters:
configThe configuration data. Usually loaded from the ros parameter server
Returns:
true if succeeded, false otherwise.

Implemented in stomp_moveit::noise_generators::NormalDistributionSampling.

virtual void stomp_moveit::noise_generators::StompNoiseGenerator::done ( bool  success,
int  total_iterations,
double  final_cost,
const Eigen::MatrixXd &  parameters 
) [inline, virtual]

Called by the STOMP instance at the end of the optimization process.

Parameters:
successWhether the optimization succeeded
total_iterationsNumber of iterations used
final_costThe cost value after optimizing.
parametersThe parameters generated at the end of current iteration [num_dimensions x num_timesteps]

Reimplemented in stomp_moveit::noise_generators::NormalDistributionSampling.

Definition at line 127 of file stomp_noise_generator.h.

virtual bool stomp_moveit::noise_generators::StompNoiseGenerator::generateNoise ( const Eigen::MatrixXd &  parameters,
std::size_t  start_timestep,
std::size_t  num_timesteps,
int  iteration_number,
int  rollout_number,
Eigen::MatrixXd &  parameters_noise,
Eigen::MatrixXd &  noise 
) [pure virtual]

Generates a noisy trajectory from the parameters.

Parameters:
parametersThe current value of the optimized parameters to add noise to [num_dimensions x num_parameters]
start_timestepstart index into the 'parameters' array, usually 0.
num_timestepsnumber of elements to use from 'parameters' starting from 'start_timestep'
iteration_numberThe current iteration count in the optimization loop
rollout_numberindex of the noisy trajectory.
parameters_noisethe parameters + noise
noisethe noise applied to the parameters
Returns:
false if there was an irrecoverable failure, true otherwise.

Implemented in stomp_moveit::noise_generators::NormalDistributionSampling.

virtual std::string stomp_moveit::noise_generators::StompNoiseGenerator::getGroupName ( ) const [inline, virtual]
virtual std::string stomp_moveit::noise_generators::StompNoiseGenerator::getName ( ) const [inline, virtual]
virtual bool stomp_moveit::noise_generators::StompNoiseGenerator::initialize ( moveit::core::RobotModelConstPtr  robot_model_ptr,
const std::string &  group_name,
const XmlRpc::XmlRpcValue config 
) [pure virtual]

Initializes and configures.

Parameters:
robot_model_ptrA pointer to the robot model.
group_nameThe designated planning group.
configThe configuration data. Usually loaded from the ros parameter server
Returns:
true if succeeded, false otherwise.

Implemented in stomp_moveit::noise_generators::NormalDistributionSampling.

virtual void stomp_moveit::noise_generators::StompNoiseGenerator::postIteration ( std::size_t  start_timestep,
std::size_t  num_timesteps,
int  iteration_number,
double  cost,
const Eigen::MatrixXd &  parameters 
) [inline, virtual]

Called by STOMP at the end of each iteration.

Parameters:
start_timestepThe start index into the 'parameters' array, usually 0.
num_timestepsThe number of elements to use from 'parameters' starting from 'start_timestep'
iteration_numberThe current iteration count in the optimization loop
costThe cost value for the current parameters.
parametersThe value of the parameters at the end of the current iteration [num_dimensions x num_timesteps].

Definition at line 116 of file stomp_noise_generator.h.

virtual bool stomp_moveit::noise_generators::StompNoiseGenerator::setMotionPlanRequest ( const planning_scene::PlanningSceneConstPtr &  planning_scene,
const moveit_msgs::MotionPlanRequest req,
const stomp_core::StompConfiguration &  config,
moveit_msgs::MoveItErrorCodes &  error_code 
) [pure virtual]

Stores the planning details.

Parameters:
planning_sceneA smart pointer to the planning scene
reqThe motion planning request
configThe Stomp configuration.
error_codeMoveit error code.
Returns:
true if succeeded, false otherwise.

Implemented in stomp_moveit::noise_generators::NormalDistributionSampling.


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


stomp_moveit
Author(s): Jorge Nicho
autogenerated on Sat Jun 8 2019 19:24:01