Publishes rviz markers to visualize the noisy trajectories. More...

Inheritance diagram for stomp_moveit::noisy_filters::MultiTrajectoryVisualization:

Public Member Functions
virtual bool	configure (const XmlRpc::XmlRpcValue &config) override
	see base class for documentation

virtual bool	filter (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::MatrixXd &parameters, bool &filtered) override
	Creates rviz markers for visualizing the noisy trajectories, it does not change the parameters. More...

virtual std::string	getGroupName () const override

virtual std::string	getName () const override

virtual bool	initialize (moveit::core::RobotModelConstPtr robot_model_ptr, const std::string &group_name, const XmlRpc::XmlRpcValue &config) override
	see base class for documentation

virtual bool	setMotionPlanRequest (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::MotionPlanRequest &req, const stomp_core::StompConfiguration &config, moveit_msgs::MoveItErrorCodes &error_code) override
	see base class for documentation

Public Member Functions inherited from stomp_moveit::noisy_filters::StompNoisyFilter
virtual void	done (bool success, int total_iterations, double final_cost, const Eigen::MatrixXd &parameters)
	Called by the Stomp at the end of the optimization process. More...

virtual void	postIteration (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, double cost, const Eigen::MatrixXd &parameters)
	Called by STOMP at the end of each iteration. More...

Protected Attributes
std::string	group_name_

double	line_width_

std::string	marker_namespace_

std::string	marker_topic_

std::string	name_

ros::NodeHandle	nh_

std_msgs::ColorRGBA	rgb_

moveit::core::RobotModelConstPtr	robot_model_

moveit::core::RobotStatePtr	state_

visualization_msgs::MarkerArray	tool_points_markers_

Eigen::MatrixXd	tool_traj_line_

visualization_msgs::MarkerArray	tool_traj_markers_

std::size_t	traj_total_

ros::Publisher	viz_pub_

Detailed Description

Publishes rviz markers to visualize the noisy trajectories.

Member Function Documentation

bool stomp_moveit::noisy_filters::MultiTrajectoryVisualization::filter	(	std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		int	rollout_number,
		Eigen::MatrixXd &	parameters,
		bool &	filtered
	)

overridevirtual

Creates rviz markers for visualizing the noisy trajectories, it does not change the parameters.

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 whose cost is being evaluated.
parameters	Output argument containing the parameters to be filtered [num_dimensions x num_timesteps].
filtered	Output argument that's set to 'true' if the parameters were changed according to the filtering method.

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