|
virtual bool | configure (const XmlRpc::XmlRpcValue &config)=0 |
| Sets internal members of the plugin from the configuration data. More...
|
|
virtual void | done (bool success, int total_iterations, double final_cost, const Eigen::MatrixXd ¶meters) |
| Called by the STOMP instance at the end of the optimization process. More...
|
|
virtual bool | generateNoise (const Eigen::MatrixXd ¶meters, std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::MatrixXd ¶meters_noise, Eigen::MatrixXd &noise)=0 |
| Generates a noisy trajectory from the parameters. More...
|
|
virtual std::string | getGroupName () const |
|
virtual std::string | getName () const |
|
virtual bool | initialize (moveit::core::RobotModelConstPtr robot_model_ptr, const std::string &group_name, const XmlRpc::XmlRpcValue &config)=0 |
| Initializes and configures. More...
|
|
virtual void | postIteration (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, double cost, const Eigen::MatrixXd ¶meters) |
| Called by STOMP at the end of each iteration. More...
|
|
virtual bool | setMotionPlanRequest (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::MotionPlanRequest &req, const stomp_core::StompConfiguration &config, moveit_msgs::MoveItErrorCodes &error_code)=0 |
| Stores the planning details. More...
|
|
Definition at line 53 of file stomp_noise_generator.h.
virtual bool stomp_moveit::noise_generators::StompNoiseGenerator::configure |
( |
const XmlRpc::XmlRpcValue & |
config | ) |
|
|
pure virtual |
virtual void stomp_moveit::noise_generators::StompNoiseGenerator::done |
( |
bool |
success, |
|
|
int |
total_iterations, |
|
|
double |
final_cost, |
|
|
const Eigen::MatrixXd & |
parameters |
|
) |
| |
|
inlinevirtual |
Called by the STOMP instance at the end of the optimization process.
- Parameters
-
success | Whether the optimization succeeded |
total_iterations | Number of iterations used |
final_cost | The cost value after optimizing. |
parameters | The parameters generated at the end of current iteration [num_dimensions x num_timesteps] |
Reimplemented in stomp_moveit::noise_generators::NormalDistributionSampling.
Definition at line 127 of file stomp_noise_generator.h.
virtual bool stomp_moveit::noise_generators::StompNoiseGenerator::generateNoise |
( |
const Eigen::MatrixXd & |
parameters, |
|
|
std::size_t |
start_timestep, |
|
|
std::size_t |
num_timesteps, |
|
|
int |
iteration_number, |
|
|
int |
rollout_number, |
|
|
Eigen::MatrixXd & |
parameters_noise, |
|
|
Eigen::MatrixXd & |
noise |
|
) |
| |
|
pure virtual |
Generates a noisy trajectory from the parameters.
- Parameters
-
parameters | The current value of the optimized parameters to add noise to [num_dimensions x num_parameters] |
start_timestep | start index into the 'parameters' array, usually 0. |
num_timesteps | number of elements to use from 'parameters' starting from 'start_timestep' |
iteration_number | The current iteration count in the optimization loop |
rollout_number | index of the noisy trajectory. |
parameters_noise | the parameters + noise |
noise | the noise applied to the parameters |
- Returns
- false if there was an irrecoverable failure, true otherwise.
Implemented in stomp_moveit::noise_generators::NormalDistributionSampling.
virtual bool stomp_moveit::noise_generators::StompNoiseGenerator::initialize |
( |
moveit::core::RobotModelConstPtr |
robot_model_ptr, |
|
|
const std::string & |
group_name, |
|
|
const XmlRpc::XmlRpcValue & |
config |
|
) |
| |
|
pure virtual |
Initializes and configures.
- Parameters
-
robot_model_ptr | A pointer to the robot model. |
group_name | The designated planning group. |
config | The configuration data. Usually loaded from the ros parameter server |
- Returns
- true if succeeded, false otherwise.
Implemented in stomp_moveit::noise_generators::NormalDistributionSampling.
virtual void stomp_moveit::noise_generators::StompNoiseGenerator::postIteration |
( |
std::size_t |
start_timestep, |
|
|
std::size_t |
num_timesteps, |
|
|
int |
iteration_number, |
|
|
double |
cost, |
|
|
const Eigen::MatrixXd & |
parameters |
|
) |
| |
|
inlinevirtual |
Called by STOMP at the end of each iteration.
- Parameters
-
start_timestep | The start index into the 'parameters' array, usually 0. |
num_timesteps | The number of elements to use from 'parameters' starting from 'start_timestep' |
iteration_number | The current iteration count in the optimization loop |
cost | The cost value for the current parameters. |
parameters | The value of the parameters at the end of the current iteration [num_dimensions x num_timesteps]. |
Definition at line 116 of file stomp_noise_generator.h.
The documentation for this class was generated from the following file: