Class ChompParameters

Class Documentation

class ChompParameters

Public Functions

ChompParameters()
virtual ~ChompParameters()
void setRecoveryParams(double learning_rate, double ridge_factor, int planning_time_limit, int max_iterations)

sets the recovery parameters which can be changed in case CHOMP is not able to find a solution with the parameters set from the chomp_planning.yaml file

Parameters:

  • learning_rate –

  • ridge_factor –

  • planning_time_limit –

  • max_iterations –

bool setTrajectoryInitializationMethod(std::string method)

sets a valid trajectory initialization method

Returns:

true if a valid method (one of VALID_INITIALIZATION_METHODS) was specified

Public Members

double planning_time_limit_

maximum time the optimizer can take to find a solution before terminating

int max_iterations_

maximum number of iterations that the planner can take to find a good solution while optimization

int max_iterations_after_collision_free_

maximum iterations to be performed after a collision free path is found.

double smoothness_cost_weight_

smoothness_cost_weight parameters controls its weight in the final cost that CHOMP is actually optimizing over

double obstacle_cost_weight_

controls the weight to be given to obstacles towards the final cost CHOMP optimizes over

double learning_rate_

learning rate used by the optimizer to find the local / global minima while reducing the total cost

double smoothness_cost_velocity_

variables associated with the cost in velocity

double smoothness_cost_acceleration_

variables associated with the cost in acceleration

double smoothness_cost_jerk_

variables associated with the cost in jerk

bool use_stochastic_descent_

set this to true/false if you want to use stochastic descent while optimizing the cost.

double ridge_factor_

the noise added to the diagnal of the total quadratic cost matrix in the objective function

bool use_pseudo_inverse_

enable pseudo inverse calculations or not.

double pseudo_inverse_ridge_factor_

set the ridge factor if pseudo inverse is enabled

double joint_update_limit_

set the update limit for the robot joints

double min_clearance_

the minimum distance that needs to be maintained to avoid obstacles

double collision_threshold_

the collision threshold cost that needs to be maintained to avoid collisions

bool filter_mode_
std::string trajectory_initialization_method_

trajectory initialization method to be specified

bool enable_failure_recovery_

if set to true, CHOMP tries to vary certain parameters to try and find a path if an initial path is not found with the specified chomp parameters

int max_recovery_attempts_

this the maximum recovery attempts to find a collision free path after an initial failure to find a solution

Public Static Attributes

static const std::vector<std::string> VALID_INITIALIZATION_METHODS