26 #ifndef INDUSTRIAL_MOVEIT_STOMP_MOVEIT_INCLUDE_STOMP_NOISY_FILTER_H_ 27 #define INDUSTRIAL_MOVEIT_STOMP_MOVEIT_INCLUDE_STOMP_NOISY_FILTER_H_ 31 #include <stomp_core/utils.h> 35 #include <moveit_msgs/MotionPlanRequest.h> 40 namespace noisy_filters
43 class StompNoisyFilter;
44 typedef std::shared_ptr<StompNoisyFilter> StompNoisyFilterPtr;
67 virtual bool initialize(moveit::core::RobotModelConstPtr robot_model_ptr,
86 const moveit_msgs::MotionPlanRequest &req,
88 moveit_msgs::MoveItErrorCodes& error_code) = 0;
101 virtual bool filter(std::size_t start_timestep,
102 std::size_t num_timesteps,
103 int iteration_number,
105 Eigen::MatrixXd& parameters,
106 bool& filtered) = 0 ;
117 std::size_t num_timesteps,
int iteration_number,
double cost,
const Eigen::MatrixXd& parameters){}
127 virtual void done(
bool success,
int total_iterations,
double final_cost,
const Eigen::MatrixXd& parameters){}
130 virtual std::string getName()
const 132 return "Not implemented";
136 virtual std::string getGroupName()
const 138 return "Not implemented";
virtual bool initialize(moveit::core::RobotModelConstPtr robot_model_ptr, const std::string &group_name, const XmlRpc::XmlRpcValue &config)=0
Initializes and configures.
Interface class for filtering noisy trajectories.
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.
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.
virtual bool filter(std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::MatrixXd ¶meters, bool &filtered)=0
Applies a filtering method to the parameters which may modify the original values.
virtual void done(bool success, int total_iterations, double final_cost, const Eigen::MatrixXd ¶meters)
Called by the Stomp at the end of the optimization process.
virtual bool configure(const XmlRpc::XmlRpcValue &config)=0
Sets internal members of the plugin from the configuration data.