Program Listing for File chomp_parameters.h

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/* Author: Mrinal Kalakrishnan */

#include <string>
#include <vector>

#pragma once

namespace chomp
{
class ChompParameters
{
public:
  ChompParameters();
  virtual ~ChompParameters();

  void setRecoveryParams(double learning_rate, double ridge_factor, int planning_time_limit, int max_iterations);

  bool setTrajectoryInitializationMethod(std::string method);

public:
  double planning_time_limit_;
  int max_iterations_;
  int max_iterations_after_collision_free_;
  double smoothness_cost_weight_;
  double obstacle_cost_weight_;
  double
      learning_rate_;
  double smoothness_cost_velocity_;
  double smoothness_cost_acceleration_;
  double smoothness_cost_jerk_;
  bool use_stochastic_descent_;
  double
      ridge_factor_;
  bool use_pseudo_inverse_;
  double pseudo_inverse_ridge_factor_;
  double joint_update_limit_;
  double min_clearance_;
  double collision_threshold_;
  bool filter_mode_;

  static const std::vector<std::string> VALID_INITIALIZATION_METHODS;
  std::string trajectory_initialization_method_;
  bool enable_failure_recovery_;
  int max_recovery_attempts_;
};

}  // namespace chomp