normal_distribution_sampling.h

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#ifndef INDUSTRIAL_MOVEIT_STOMP_MOVEIT_INCLUDE_STOMP_MOVEIT_NOISE_GENERATORS_NORMAL_DISTRIBUTION_SAMPLING_H_
#define INDUSTRIAL_MOVEIT_STOMP_MOVEIT_INCLUDE_STOMP_MOVEIT_NOISE_GENERATORS_NORMAL_DISTRIBUTION_SAMPLING_H_

#include <stomp_moveit/noise_generators/stomp_noise_generator.h>
#include <stomp_moveit/utils/multivariate_gaussian.h>

namespace stomp_moveit
{

namespace noise_generators
{

class NormalDistributionSampling: public StompNoiseGenerator
{
public:
  NormalDistributionSampling();
  virtual ~NormalDistributionSampling();

  virtual bool initialize(moveit::core::RobotModelConstPtr robot_model_ptr,
                          const std::string& group_name,const XmlRpc::XmlRpcValue& config) override;

  virtual bool configure(const XmlRpc::XmlRpcValue& config) override;

  virtual bool setMotionPlanRequest(const planning_scene::PlanningSceneConstPtr& planning_scene,
                   const moveit_msgs::MotionPlanRequest &req,
                   const stomp_core::StompConfiguration &config,
                   moveit_msgs::MoveItErrorCodes& error_code) override;

  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) override;

  virtual void done(bool success,int total_iterations,double final_cost,const Eigen::MatrixXd& parameters){}


  virtual std::string getName() const
  {
    return name_ + "/" + group_;
  }


  virtual std::string getGroupName() const
  {
    return group_;
  }

protected:

  // names
  std::string name_;
  std::string group_;

  // random noise generation
  std::vector<utils::MultivariateGaussianPtr> rand_generators_;
  Eigen::VectorXd raw_noise_;
  std::vector<double> stddev_;

};

} /* namespace noise_generators */
} /* namespace stomp_moveit */

#endif /* INDUSTRIAL_MOVEIT_STOMP_MOVEIT_INCLUDE_STOMP_MOVEIT_NOISE_GENERATORS_NORMAL_DISTRIBUTION_SAMPLING_H_ */