Struct StompConfiguration

• Defined in File utils.h

Struct Documentation

struct StompConfiguration

The data structure used to store STOMP configuration parameters.

Public Members

int num_iterations

Maximum number of iteration allowed.

int num_iterations_after_valid

Stomp will stop optimizing this many iterations after finding a valid solution.

int num_timesteps

Number of timesteps.

int num_dimensions

Parameter dimensionality.

double delta_t

Time change between consecutive points.

int initialization_method

TrajectoryInitializations::TrajectoryInitialization.

double exponentiated_cost_sensitivity

Default exponetiated cost sensitivity coefficient.

int num_rollouts

Number of noisy trajectories.

int max_rollouts

The combined number of new and old rollouts during each iteration shouldn’t exceed this value.

double control_cost_weight

Percentage of the trajectory accelerations cost to be applied in the total cost calculation >