chomp_parameters.h

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/* Author: Mrinal Kalakrishnan */

#ifndef CHOMP_PARAMETERS_H_
#define CHOMP_PARAMETERS_H_

#include <ros/ros.h>

namespace chomp
{

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

  double getPlanningTimeLimit() const;
  void setPlanningTimeLimit(double planning_time_limit);
  int getMaxIterations() const;
  int getMaxIterationsAfterCollisionFree() const;
  double getSmoothnessCostWeight() const;
  double getObstacleCostWeight() const;
  bool getAnimatePath() const;
  double getLearningRate() const;
  double getSmoothnessCostVelocity() const;
  double getSmoothnessCostAcceleration() const;
  double getSmoothnessCostJerk() const;
  bool getAddRandomness() const;
  bool getUseHamiltonianMonteCarlo() const;
  double getHmcDiscretization() const;
  double getHmcStochasticity() const;
  double getHmcAnnealingFactor() const;
  double getRidgeFactor() const;
  bool getUsePseudoInverse() const;
  double getPseudoInverseRidgeFactor() const;
  bool getAnimateEndeffector() const;
  std::string getAnimateEndeffectorSegment() const;
  double getJointUpdateLimit() const;
  double getMinClearence() const;
  double getCollisionThreshold() const;
  bool getFilterMode() const;
  void setFilterMode(bool mode);
  double getRandomJumpAmount() const;
  void setRandomJumpAmount(double amount);
  bool getUseStochasticDescent() const;

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_;
  bool animate_path_;
  double smoothness_cost_velocity_;
  double smoothness_cost_acceleration_;
  double smoothness_cost_jerk_;
  bool add_randomness_;
  bool use_hamiltonian_monte_carlo_;
  bool use_stochastic_descent_;
  double hmc_stochasticity_;
  double hmc_discretization_;
  double hmc_annealing_factor_;
  double ridge_factor_;
  bool use_pseudo_inverse_;
  double pseudo_inverse_ridge_factor_;
  bool animate_endeffector_;
  std::string animate_endeffector_segment_;
  double joint_update_limit_;
  double min_clearence_;
  double collision_threshold_;
  bool filter_mode_;
  double random_jump_amount_;
};


inline double ChompParameters::getRandomJumpAmount() const
{
  return random_jump_amount_;
}

inline void ChompParameters::setRandomJumpAmount(double amount)
{
  random_jump_amount_ = amount;
}

inline double ChompParameters::getCollisionThreshold() const
{
  return collision_threshold_;
}

inline bool ChompParameters::getFilterMode() const
{
  return filter_mode_;
}

inline void ChompParameters::setFilterMode(bool mode)
{
  filter_mode_ = mode;
}

inline double ChompParameters::getMinClearence() const
{
  return min_clearence_;
}

inline double ChompParameters::getJointUpdateLimit() const
{
  return joint_update_limit_;
}

inline double ChompParameters::getPlanningTimeLimit() const
{
  return planning_time_limit_;
}

inline void ChompParameters::setPlanningTimeLimit(double planning_time_limit)
{
  planning_time_limit_ = planning_time_limit;
}

inline int ChompParameters::getMaxIterations() const
{
  return max_iterations_;
}

inline int ChompParameters::getMaxIterationsAfterCollisionFree() const
{
  return max_iterations_after_collision_free_;
}

inline double ChompParameters::getSmoothnessCostWeight() const
{
  return smoothness_cost_weight_;
}

inline double ChompParameters::getObstacleCostWeight() const
{
  return obstacle_cost_weight_;
}

inline double ChompParameters::getLearningRate() const
{
  return learning_rate_;
}

inline bool ChompParameters::getAnimatePath() const
{
  return animate_path_;
}

inline bool ChompParameters::getAddRandomness() const
{
  return add_randomness_;
}

inline double ChompParameters::getSmoothnessCostVelocity() const
{
  return smoothness_cost_velocity_;
}

inline double ChompParameters::getSmoothnessCostAcceleration() const
{
  return smoothness_cost_acceleration_;
}

inline double ChompParameters::getSmoothnessCostJerk() const
{
  return smoothness_cost_jerk_;
}

inline double ChompParameters::getHmcDiscretization() const
{
  return hmc_discretization_;
}

inline double ChompParameters::getHmcStochasticity() const
{
  return hmc_stochasticity_;
}

inline double ChompParameters::getHmcAnnealingFactor() const
{
  return hmc_annealing_factor_;
}

inline bool ChompParameters::getUseHamiltonianMonteCarlo() const
{
  return use_hamiltonian_monte_carlo_;
}

inline double ChompParameters::getRidgeFactor() const
{
  return ridge_factor_;
}

inline bool ChompParameters::getUsePseudoInverse() const
{
  return use_pseudo_inverse_;
}

inline double ChompParameters::getPseudoInverseRidgeFactor() const
{
  return pseudo_inverse_ridge_factor_;
}

inline bool ChompParameters::getAnimateEndeffector() const
{
  return animate_endeffector_;
}

inline bool ChompParameters::getUseStochasticDescent() const
{
  return use_stochastic_descent_;
}

inline std::string ChompParameters::getAnimateEndeffectorSegment() const
{
  return animate_endeffector_segment_;
}

} // namespace chomp

#endif /* CHOMP_PARAMETERS_H_ */