Public Member Functions | Public Attributes | List of all members
chomp::ChompParameters Class Reference

#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...
 

Detailed Description

Definition at line 44 of file chomp_parameters.h.

Constructor & Destructor Documentation

chomp::ChompParameters::ChompParameters ( )

Definition at line 41 of file chomp_parameters.cpp.

chomp::ChompParameters::~ChompParameters ( )
virtual

Definition at line 73 of file chomp_parameters.cpp.

Member Function Documentation

ChompParameters chomp::ChompParameters::getNonConstParams ( ChompParameters  params)
Parameters
paramsequates the returned chomp parameters to this argument
Returns
the non constant version of ChompParameters

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

Parameters
learning_rate
ridge_factor
planning_time_limit
max_iterations

Definition at line 83 of file chomp_parameters.cpp.

Member Data Documentation

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.


The documentation for this class was generated from the following files:


chomp_motion_planner
Author(s): Gil Jones , Mrinal Kalakrishnan
autogenerated on Sun Oct 18 2020 13:17:08