#include <stomp_noise_generator.h>
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 ¶meters) |
Called by the STOMP instance at the end of the optimization process. | |
virtual bool | generateNoise (const Eigen::MatrixXd ¶meters, std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::MatrixXd ¶meters_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 ¶meters) |
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 () |
Definition at line 53 of file stomp_noise_generator.h.
Definition at line 56 of file stomp_noise_generator.h.
virtual stomp_moveit::noise_generators::StompNoiseGenerator::~StompNoiseGenerator | ( | ) | [inline, virtual] |
Definition at line 57 of file stomp_noise_generator.h.
virtual bool stomp_moveit::noise_generators::StompNoiseGenerator::configure | ( | const XmlRpc::XmlRpcValue & | config | ) | [pure virtual] |
Sets internal members of the plugin from the configuration data.
config | The configuration data. Usually loaded from the ros parameter server |
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.
success | Whether the optimization succeeded |
total_iterations | Number of iterations used |
final_cost | The cost value after optimizing. |
parameters | The 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 | The current value of the optimized parameters to add noise to [num_dimensions x num_parameters] |
start_timestep | start index into the 'parameters' array, usually 0. |
num_timesteps | number of elements to use from 'parameters' starting from 'start_timestep' |
iteration_number | The current iteration count in the optimization loop |
rollout_number | index of the noisy trajectory. |
parameters_noise | the parameters + noise |
noise | the noise applied to the parameters |
Implemented in stomp_moveit::noise_generators::NormalDistributionSampling.
virtual std::string stomp_moveit::noise_generators::StompNoiseGenerator::getGroupName | ( | ) | const [inline, virtual] |
Reimplemented in stomp_moveit::noise_generators::NormalDistributionSampling.
Definition at line 136 of file stomp_noise_generator.h.
virtual std::string stomp_moveit::noise_generators::StompNoiseGenerator::getName | ( | ) | const [inline, virtual] |
Reimplemented in stomp_moveit::noise_generators::NormalDistributionSampling.
Definition at line 130 of file stomp_noise_generator.h.
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.
robot_model_ptr | A pointer to the robot model. |
group_name | The designated planning group. |
config | The configuration data. Usually loaded from the ros parameter server |
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.
start_timestep | The start index into the 'parameters' array, usually 0. |
num_timesteps | The number of elements to use from 'parameters' starting from 'start_timestep' |
iteration_number | The current iteration count in the optimization loop |
cost | The cost value for the current parameters. |
parameters | The 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.
planning_scene | A smart pointer to the planning scene |
req | The motion planning request |
config | The Stomp configuration. |
error_code | Moveit error code. |
Implemented in stomp_moveit::noise_generators::NormalDistributionSampling.