Evaluates the cost of the goal pose by determining how far it is from the underconstrained task manifold. The parameters are as follow:
cost_functions:
- class: stomp_moveit/ToolGoalPose
constrained_dofs: [1, 1, 1, 1, 1, 0]
position_error_range: [0.01, 0.1] #[min, max]
orientation_error_range: [0.01, 0.1] #[min, max]
position_cost_weight: 0.5
orientation_cost_weight: 0.5
- class: The class name.
- constrained_dofs: Indicates which cartesians DOF are fully constrained (1) or unconstrained (0). This vector is of the form [x y z rx ry rz] where each entry can only take a value of 0 or 1.
- position_error_range: Used in scaling the position error from 0 to 1. Any error less than this range is set to a cost of 0 and errors above this range are set to 1.
- orientation_error_range: Used in scaling the orientation error from 0 to 1. Any error less than this range is set to a cost of 0 and errors above this range are set to 1.
- position_cost_weight: Factor applied to the position error cost. The total cost = pos_cost * pos_weight + orient_cost * orient_weight
- orientation_cost_weight: Factor applied to the orientation error cost. The total cost = pos_cost * pos_weight + orient_cost * orient_weight