26 #ifndef INDUSTRIAL_MOVEIT_STOMP_MOVEIT_INCLUDE_STOMP_MOVEIT_UPDATE_FILTERS_STOMP_UPDATE_FILTER_H_ 27 #define INDUSTRIAL_MOVEIT_STOMP_MOVEIT_INCLUDE_STOMP_MOVEIT_UPDATE_FILTERS_STOMP_UPDATE_FILTER_H_ 31 #include <stomp_core/utils.h> 35 #include <moveit_msgs/MotionPlanRequest.h> 41 namespace update_filters
52 class StompUpdateFilter;
53 typedef std::shared_ptr<StompUpdateFilter> StompUpdateFilterPtr;
68 virtual bool initialize(moveit::core::RobotModelConstPtr robot_model_ptr,
87 const moveit_msgs::MotionPlanRequest &req,
89 moveit_msgs::MoveItErrorCodes& error_code) = 0;
102 virtual bool filter(std::size_t start_timestep,
103 std::size_t num_timesteps,
104 int iteration_number,
105 const Eigen::MatrixXd& parameters,
106 Eigen::MatrixXd& updates,
107 bool& filtered) = 0 ;
118 std::size_t num_timesteps,
int iteration_number,
double cost,
const Eigen::MatrixXd& parameters){}
128 virtual void done(
bool success,
int total_iterations,
double final_cost,
const Eigen::MatrixXd& parameters){}
131 virtual std::string getName()
const 133 return "Not implemented";
137 virtual std::string getGroupName()
const 139 return "Not implemented";
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 initialize(moveit::core::RobotModelConstPtr robot_model_ptr, const std::string &group_name, const XmlRpc::XmlRpcValue &config)=0
Initializes and configures.
Interface class which applies filtering methods to the update parameters before it is added onto the ...
virtual bool configure(const XmlRpc::XmlRpcValue &config)=0
Sets internal members of the plugin from the configuration data.
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 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 filter(std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, const Eigen::MatrixXd ¶meters, Eigen::MatrixXd &updates, bool &filtered)=0
Filters the parameter updates and may change its values.