Public Attributes | List of all members
stomp_core::Rollout Struct Reference

The data structure used to store information about a single rollout. More...

#include <utils.h>

Public Attributes

Eigen::MatrixXd control_costs
 A matrix [num_dimensions][num_time_steps] of the control cost for each parameter at every timestep.
 
std::vector< double > full_costs
 A vector [num_dimensions] of the full coss, state_cost + control_cost for each joint over the entire trajectory full_costs_[d] = state_cost.sum() + control_cost[d].sum()
 
std::vector< double > full_probabilities
 A vector [num_dimensions] of the probabilities for the full trajectory.
 
double importance_weight
 importance sampling weight
 
Eigen::MatrixXd noise
 A matrix [num_dimensions][num_time_steps] of random noise applied to the parameters.
 
Eigen::MatrixXd parameters_noise
 A matrix [num_dimensions][num_time_steps] of the sum of parameters + noise.
 
Eigen::MatrixXd probabilities
 A matrix [num_dimensions][num_time_steps] of the probability for each parameter at every timestep.
 
Eigen::VectorXd state_costs
 A vector [num_time_steps] of the cost at each timestep.
 
double total_cost
 combined state + control cost over the entire trajectory for all joints
 
Eigen::MatrixXd total_costs
 A matrix [num_dimensions][num_time_steps] of the total cost, where total_cost[d] = state_costs_ + control_costs_[d].
 

Detailed Description

The data structure used to store information about a single rollout.

Definition at line 37 of file utils.h.


The documentation for this struct was generated from the following file:


stomp_core
Author(s): Jorge Nicho
autogenerated on Fri May 8 2020 03:35:43