.. _program_listing_file__tmp_ws_src_stomp_include_stomp_stomp.h:

Program Listing for File stomp.h
================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_stomp_include_stomp_stomp.h>` (``/tmp/ws/src/stomp/include/stomp/stomp.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   #ifndef INDUSTRIAL_MOVEIT_STOMP_INCLUDE_STOMP_STOMP_H_
   #define INDUSTRIAL_MOVEIT_STOMP_INCLUDE_STOMP_STOMP_H_
   
   #include <atomic>
   #include <stomp/utils.h>
   #include <stomp/task.h>
   
   namespace stomp
   {
   class Stomp
   {
   public:
     Stomp(const StompConfiguration& config, TaskPtr task);
   
     bool solve(const std::vector<double>& first, const std::vector<double>& last, Eigen::MatrixXd& parameters_optimized);
   
     bool solve(const Eigen::VectorXd& first, const Eigen::VectorXd& last, Eigen::MatrixXd& parameters_optimized);
   
     bool solve(const Eigen::MatrixXd& initial_parameters, Eigen::MatrixXd& parameters_optimized);
   
     void setConfig(const StompConfiguration& config);
   
     bool cancel();
   
     bool clear();
   
   protected:
     // initialization methods
     bool resetVariables();
   
     bool computeInitialTrajectory(const std::vector<double>& first, const std::vector<double>& last);
   
     // optimization steps
     bool runSingleIteration();
   
     bool generateNoisyRollouts();
   
     bool filterNoisyRollouts();
   
     bool computeNoisyRolloutsCosts();
   
     bool computeRolloutsStateCosts();
   
     bool computeRolloutsControlCosts();
   
     bool computeProbabilities();
   
     bool updateParameters();
   
     bool computeOptimizedCost();
   
   protected:
     // process control
     std::atomic<bool> proceed_;      
     TaskPtr task_;                   
     StompConfiguration config_;      
     unsigned int current_iteration_; 
     // optimized parameters
     bool parameters_valid_;      
     bool parameters_valid_prev_; 
     double parameters_total_cost_;         
     double current_lowest_cost_;           
     Eigen::MatrixXd parameters_optimized_; 
     Eigen::MatrixXd parameters_updates_;       
     Eigen::VectorXd parameters_state_costs_;   
     Eigen::MatrixXd parameters_control_costs_; 
     // rollouts
     std::vector<Rollout> noisy_rollouts_;  
     std::vector<Rollout> reused_rollouts_; 
     int num_active_rollouts_;              
     // finite difference and optimization matrices
     int num_timesteps_padded_; 
     int start_index_padded_;   
     Eigen::MatrixXd finite_diff_matrix_A_padded_;  
     Eigen::MatrixXd control_cost_matrix_R_padded_; 
     Eigen::MatrixXd control_cost_matrix_R_;        
     Eigen::MatrixXd inv_control_cost_matrix_R_;    
   };
   
   } /* namespace stomp */
   
   #endif /* INDUSTRIAL_MOVEIT_STOMP_INCLUDE_STOMP_STOMP_H_ */