chomp_parameters.h

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/* Author: Mrinal Kalakrishnan */

#ifndef CHOMP_PARAMETERS_H_
#define CHOMP_PARAMETERS_H_

#include <ros/ros.h>

namespace chomp
{
class ChompParameters
{
public:
  ChompParameters();
  virtual ~ChompParameters();

  ChompParameters getNonConstParams(ChompParameters params);

  void setRecoveryParams(double learning_rate, double ridge_factor, int planning_time_limit, int max_iterations);

public:
  double planning_time_limit_;  
  int max_iterations_;          
  int max_iterations_after_collision_free_;  
  double smoothness_cost_weight_;  
  double obstacle_cost_weight_;  
  double learning_rate_;  

  double smoothness_cost_velocity_;      
  double smoothness_cost_acceleration_;  
  double smoothness_cost_jerk_;          
  // bool add_randomness_;
  // bool use_hamiltonian_monte_carlo_;
  bool use_stochastic_descent_;  

  // double hmc_stochasticity_;
  // double hmc_discretization_;
  // double hmc_annealing_factor_;
  double ridge_factor_;  
  bool use_pseudo_inverse_;             
  double pseudo_inverse_ridge_factor_;  

  double joint_update_limit_;   
  double min_clearence_;        
  double collision_threshold_;  
  bool filter_mode_;
  // double random_jump_amount_;
  std::string trajectory_initialization_method_;  
  bool enable_failure_recovery_;  
  int max_recovery_attempts_;     
};

}  // namespace chomp

#endif /* CHOMP_PARAMETERS_H_ */