Saves the update values into a file for post analysis. The file is compatible with the python numpy library and can be loaded into a numpy array by running. 'numpy.loadtxt(file_name)'. More...

#include <update_logger.h>

Inheritance diagram for stomp_moveit::update_filters::UpdateLogger:

[legend]

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

virtual void	done (bool success, int total_iterations, double final_cost, const Eigen::MatrixXd &parameters) override
	Called by the Stomp at the end of the optimization process. More...

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
	Store the updates values into a file that can be loaded into a numpy array. 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)
	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)
	see base class for documentation

Public Member Functions inherited from stomp_moveit::update_filters::StompUpdateFilter
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	directory_

std::ofstream	file_stream_

std::string	filename_

Eigen::IOFormat	format_

std::string	full_file_name_

std::string	group_name_

std::string	name_

std::string	package_

stomp_core::StompConfiguration	stomp_config_

std::stringstream	stream_

Detailed Description

Saves the update values into a file for post analysis. The file is compatible with the python numpy library and can be loaded into a numpy array by running. 'numpy.loadtxt(file_name)'.

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

Definition at line 47 of file update_logger.h.

Member Function Documentation

void stomp_moveit::update_filters::UpdateLogger::done	(	bool	success,
		int	total_iterations,
		double	final_cost,
		const Eigen::MatrixXd &	parameters
	)

overridevirtual

Called by the Stomp 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 from stomp_moveit::update_filters::StompUpdateFilter.

Definition at line 137 of file update_logger.cpp.

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

overridevirtual

Store the updates values into a file that can be loaded into a numpy array.

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	Always false as this filter never changes the updates values.

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

Implements stomp_moveit::update_filters::StompUpdateFilter.

Definition at line 126 of file update_logger.cpp.

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

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation