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

#include "stomp_plugins/noise_generators/goal_guided_multivariate_gaussian.h"
#include <stomp_moveit/utils/multivariate_gaussian.h>
#include <XmlRpcException.h>
#include <pluginlib/class_list_macros.h>
#include <ros/package.h>
#include <ros/console.h>
#include <boost/filesystem.hpp>
#include <fstream>

Include dependency graph for goal_guided_multivariate_gaussian.cpp:

Go to the source code of this file.

Namespaces
namespace	stomp_moveit
namespace	stomp_moveit::noise_generators
Functions
	PLUGINLIB_EXPORT_CLASS (stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian, stomp_moveit::noise_generators::StompNoiseGenerator)
Variables
static const std::vector< int >	ACC_MATRIX_DIAGONAL_INDICES = {-2, -1, 0 ,1, 2}
static const std::vector< double >	ACC_MATRIX_DIAGONAL_VALUES = {-1.0/12.0, 16.0/12.0, -30.0/12.0, 16.0/12.0, -1.0/12.0}
static const int	CARTESIAN_DOF_SIZE = 6
static double const	CARTESIAN_POS_CONVERGENCE = 0.01
static double const	CARTESIAN_ROT_CONVERGENCE = 0.01
static int const	IK_ITERATIONS = 40
static double const	JOINT_UPDATE_RATE = 0.5f

Detailed Description

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

Author:: Jorge Nicho

Date:: Jun 14, 2016

Version:: TODO

Bug:: No known bugs

Copyright:: Copyright (c) 2016, Southwest Research Institute

License: Software License Agreement (Apache License)

: Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

: Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Definition in file goal_guided_multivariate_gaussian.cpp.