This class generates noisy trajectories to an under-constrained cartesian goal pose. More...

#include <goal_guided_multivariate_gaussian.h>

Inheritance diagram for stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian:

Public Member Functions
virtual bool	configure (const XmlRpc::XmlRpcValue &config) override
	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 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) override
	Generates a noisy trajectory from the parameters.
virtual std::string	getGroupName () const
virtual std::string	getName () const
	GoalGuidedMultivariateGaussian ()
virtual bool	initialize (moveit::core::RobotModelConstPtr robot_model_ptr, const std::string &group_name, const XmlRpc::XmlRpcValue &config) override
	Initializes and configures.
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
	Stores the planning details.
virtual	~GoalGuidedMultivariateGaussian ()
Protected Member Functions
virtual bool	generateRandomGoal (const Eigen::VectorXd &seed, Eigen::VectorXd &goal_joint_pose)
virtual bool	setGoalConstraints (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::MotionPlanRequest &req, const stomp_core::StompConfiguration &config, moveit_msgs::MoveItErrorCodes &error_code)
virtual bool	setNoiseGeneration (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::MotionPlanRequest &req, const stomp_core::StompConfiguration &config, moveit_msgs::MoveItErrorCodes &error_code)
Protected Attributes
boost::shared_ptr < RandomGenerator >	goal_rand_generator_
	Random generator for the tool goal pose.
std::vector< double >	goal_stddev_
	The standard deviations applied to each cartesian dimension at the goal, [6 x 1].
std::string	group_
utils::kinematics::KinematicConfig	kc_
	The kinematic configuration to find valid goal poses.
std::string	name_
Eigen::VectorXd	raw_noise_
	The noise vector.
moveit::core::RobotModelConstPtr	robot_model_
moveit::core::RobotStatePtr	state_
std::vector< double >	stddev_
	The standard deviations applied to each joint, [num_dimensions x 1.
std::string	tool_link_
std::vector < utils::MultivariateGaussianPtr >	traj_noise_generators_
	Randomized numerical distribution generators, [6 x 1].

Detailed Description

This class generates noisy trajectories to an under-constrained cartesian goal pose.

Examples:: All examples are located here stomp_core examples

Definition at line 51 of file goal_guided_multivariate_gaussian.h.

Constructor & Destructor Documentation

stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::GoalGuidedMultivariateGaussian ( )

Definition at line 53 of file goal_guided_multivariate_gaussian.cpp.

stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::~GoalGuidedMultivariateGaussian ( ) [virtual]

Definition at line 60 of file goal_guided_multivariate_gaussian.cpp.

Member Function Documentation

bool stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::configure ( const XmlRpc::XmlRpcValue & config ) [override, virtual]

Sets internal members of the plugin from the configuration data.

Parameters:

config The configuration data. Usually loaded from the ros parameter server

Returns:: true if succeeded, false otherwise.

Implements stomp_moveit::noise_generators::StompNoiseGenerator.

Definition at line 95 of file goal_guided_multivariate_gaussian.cpp.

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

Called by the Stomp at the end of the optimization process.

Parameters:

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 from stomp_moveit::noise_generators::StompNoiseGenerator.

Definition at line 114 of file goal_guided_multivariate_gaussian.h.

bool stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::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]`

Generates a noisy trajectory from the parameters.

Parameters:

parameters	The current value of the optimized parameters [num_dimensions x num_parameters]
start_timestep	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
rollout_number	The index of the noisy trajectory.
parameters_noise	The parameters + noise
noise	The noise applied to the parameters

Returns:: true if cost were properly computed, false otherwise.

Implements stomp_moveit::noise_generators::StompNoiseGenerator.

Definition at line 236 of file goal_guided_multivariate_gaussian.cpp.

bool stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::generateRandomGoal	(	const Eigen::VectorXd &	seed,
		Eigen::VectorXd &	goal_joint_pose
	)		`[protected, virtual]`

Definition at line 281 of file goal_guided_multivariate_gaussian.cpp.

virtual std::string stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::getGroupName ( ) const [inline, virtual]

Reimplemented from stomp_moveit::noise_generators::StompNoiseGenerator.

Definition at line 123 of file goal_guided_multivariate_gaussian.h.

virtual std::string stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::getName ( ) const [inline, virtual]

Reimplemented from stomp_moveit::noise_generators::StompNoiseGenerator.

Definition at line 117 of file goal_guided_multivariate_gaussian.h.

bool stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::initialize	(	moveit::core::RobotModelConstPtr	robot_model_ptr,
		const std::string &	group_name,
		const XmlRpc::XmlRpcValue &	config
	)		`[override, virtual]`

Initializes and configures.

Parameters:

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

Returns:: true if succeeded, false otherwise.

Implements stomp_moveit::noise_generators::StompNoiseGenerator.

Definition at line 67 of file goal_guided_multivariate_gaussian.cpp.

bool stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::setGoalConstraints	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::MotionPlanRequest &	req,
		const stomp_core::StompConfiguration &	config,
		moveit_msgs::MoveItErrorCodes &	error_code
	)		`[protected, virtual]`

Definition at line 215 of file goal_guided_multivariate_gaussian.cpp.

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

Stores the planning details.

Parameters:

planning_scene	A smart pointer to the planning scene
req	The motion planning request
config	The Stomp configuration.
error_code	Moveit error code.

Returns:: true if succeeded, false otherwise.

Implements stomp_moveit::noise_generators::StompNoiseGenerator.

Definition at line 157 of file goal_guided_multivariate_gaussian.cpp.

bool stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::setNoiseGeneration	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::MotionPlanRequest &	req,
		const stomp_core::StompConfiguration &	config,
		moveit_msgs::MoveItErrorCodes &	error_code
	)		`[protected, virtual]`