#include <chomp_parameters.h>
Public Member Functions | |
| ChompParameters () | |
| ChompParameters | getNonConstParams (ChompParameters params) |
| void | setRecoveryParams (double learning_rate, double ridge_factor, int planning_time_limit, int max_iterations) |
| virtual | ~ChompParameters () |
Public Attributes | |
| double | collision_threshold_ |
| the minimum distance that needs to be maintained to avoid obstacles More... | |
| bool | enable_failure_recovery_ |
| trajectory initialization method to be specified More... | |
| bool | filter_mode_ |
| the collision threshold cost that needs to be mainted to avoid collisions More... | |
| double | joint_update_limit_ |
| set the ridge factor if pseudo inverse is enabled More... | |
| double | learning_rate_ |
| int | max_iterations_ |
| maximum time the optimizer can take to find a solution before terminating More... | |
| int | max_iterations_after_collision_free_ |
| int | max_recovery_attempts_ |
| double | min_clearence_ |
| set the update limit for the robot joints More... | |
| double | obstacle_cost_weight_ |
| double | planning_time_limit_ |
| double | pseudo_inverse_ridge_factor_ |
| enable pseudo inverse calculations or not. More... | |
| double | ridge_factor_ |
| double | smoothness_cost_acceleration_ |
| variables associated with the cost in velocity More... | |
| double | smoothness_cost_jerk_ |
| variables associated with the cost in acceleration More... | |
| double | smoothness_cost_velocity_ |
| double | smoothness_cost_weight_ |
| std::string | trajectory_initialization_method_ |
| bool | use_pseudo_inverse_ |
| the noise added to the diagnal of the total quadratic cost matrix in the objective function More... | |
| bool | use_stochastic_descent_ |
| variables associated with the cost in jerk More... | |
Definition at line 44 of file chomp_parameters.h.
| chomp::ChompParameters::ChompParameters | ( | ) |
Definition at line 41 of file chomp_parameters.cpp.
|
virtual |
Definition at line 73 of file chomp_parameters.cpp.
| ChompParameters chomp::ChompParameters::getNonConstParams | ( | ChompParameters | params | ) |
| params | equates the returned chomp parameters to this argument |
Definition at line 77 of file chomp_parameters.cpp.
| void chomp::ChompParameters::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
| learning_rate | |
| ridge_factor | |
| planning_time_limit | |
| max_iterations |
Definition at line 83 of file chomp_parameters.cpp.
| double chomp::ChompParameters::collision_threshold_ |
the minimum distance that needs to be maintained to avoid obstacles
Definition at line 96 of file chomp_parameters.h.
| bool chomp::ChompParameters::enable_failure_recovery_ |
trajectory initialization method to be specified
Definition at line 100 of file chomp_parameters.h.
| bool chomp::ChompParameters::filter_mode_ |
the collision threshold cost that needs to be mainted to avoid collisions
Definition at line 97 of file chomp_parameters.h.
| double chomp::ChompParameters::joint_update_limit_ |
set the ridge factor if pseudo inverse is enabled
Definition at line 94 of file chomp_parameters.h.
| double chomp::ChompParameters::learning_rate_ |
controls the weight to be given to obstacles towards the final cost CHOMP optimizes over
Definition at line 76 of file chomp_parameters.h.
| int chomp::ChompParameters::max_iterations_ |
maximum time the optimizer can take to find a solution before terminating
Definition at line 68 of file chomp_parameters.h.
| int chomp::ChompParameters::max_iterations_after_collision_free_ |
maximum number of iterations that the planner can take to find a good solution while optimization
Definition at line 70 of file chomp_parameters.h.
| int chomp::ChompParameters::max_recovery_attempts_ |
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
Definition at line 102 of file chomp_parameters.h.
| double chomp::ChompParameters::min_clearence_ |
set the update limit for the robot joints
Definition at line 95 of file chomp_parameters.h.
| double chomp::ChompParameters::obstacle_cost_weight_ |
smoothness_cost_weight parameters controls its weight in the final cost that CHOMP is actually optimizing over
Definition at line 74 of file chomp_parameters.h.
| double chomp::ChompParameters::planning_time_limit_ |
Definition at line 67 of file chomp_parameters.h.
| double chomp::ChompParameters::pseudo_inverse_ridge_factor_ |
enable pseudo inverse calculations or not.
Definition at line 92 of file chomp_parameters.h.
| double chomp::ChompParameters::ridge_factor_ |
set this to true/false if you want to use stochastic descent while optimizing the cost.
Definition at line 90 of file chomp_parameters.h.
| double chomp::ChompParameters::smoothness_cost_acceleration_ |
variables associated with the cost in velocity
Definition at line 80 of file chomp_parameters.h.
| double chomp::ChompParameters::smoothness_cost_jerk_ |
variables associated with the cost in acceleration
Definition at line 81 of file chomp_parameters.h.
| double chomp::ChompParameters::smoothness_cost_velocity_ |
learning rate used by the optimizer to find the local / global minima while reducing the total cost
Definition at line 79 of file chomp_parameters.h.
| double chomp::ChompParameters::smoothness_cost_weight_ |
maximum iterations to be performed after a collision free path is found.
Definition at line 72 of file chomp_parameters.h.
| std::string chomp::ChompParameters::trajectory_initialization_method_ |
Definition at line 99 of file chomp_parameters.h.
| bool chomp::ChompParameters::use_pseudo_inverse_ |
the noise added to the diagnal of the total quadratic cost matrix in the objective function
Definition at line 91 of file chomp_parameters.h.
| bool chomp::ChompParameters::use_stochastic_descent_ |
variables associated with the cost in jerk
Definition at line 84 of file chomp_parameters.h.