This is a constrained polynomial trajectory smoother. More...

#include <polynomial_smoother.h>

Inheritance diagram for stomp_moveit::update_filters::PolynomialSmoother:

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, const Eigen::MatrixXd &parameters, Eigen::MatrixXd &updates, bool &filtered) override
	smoothes the updates array by using a constrained polynomial fit. 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) 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::update_filters::StompUpdateFilter
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_

std::string	name_

unsigned int	poly_order_

moveit::core::RobotModelConstPtr	robot_model_

Detailed Description

This is a constrained polynomial trajectory smoother.

It uses the constrained least-squares technique shown below.

|p| - | 2*A*A', C |^-1 * | 2*A*b | |z| - | C', 0 | | d |

Where: p - An array of the polynomial coefficients solved for. z - An array of Lagrange mulitipliers A - Is the Vandermonde matrix of all (constrained and unconstrained) domain values C - Is the Vandermonde matrix of the constrained domain values b - An array of the values to perform the fit on d - An array of the values corresponding to the constrained domain values

Examples:: All examples are located here STOMP MoveIt! examples

Definition at line 59 of file polynomial_smoother.h.

Member Function Documentation

bool stomp_moveit::update_filters::PolynomialSmoother::filter	(	std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		const Eigen::MatrixXd &	parameters,
		Eigen::MatrixXd &	updates,
		bool &	filtered
	)

overridevirtual

smoothes the updates array by using a constrained polynomial fit.

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
parameters	The parameters generated in the previous iteration [num_dimensions x num_timesteps]
updates	The updates to be applied to the parameters [num_dimensions x num_timesteps]
filtered	set ot 'true' if the updates were modified.

Returns: false if there was an irrecoverable failure, true otherwise.

Implements stomp_moveit::update_filters::StompUpdateFilter.

Definition at line 95 of file polynomial_smoother.cpp.

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

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation