chomp_interface.cpp
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00034 
00035 /* Author: E. Gil Jones */
00036 
00037 #include <chomp_interface/chomp_interface.h>
00038 
00039 namespace chomp_interface
00040 {
00041 CHOMPInterface::CHOMPInterface(const ros::NodeHandle& nh) : ChompPlanner(), nh_(nh)
00042 {
00043   loadParams();
00044 }
00045 
00046 void CHOMPInterface::loadParams()
00047 {
00048   nh_.param("planning_time_limit", params_.planning_time_limit_, 10.0);
00049   nh_.param("max_iterations", params_.max_iterations_, 200);
00050   nh_.param("max_iterations_after_collision_free", params_.max_iterations_after_collision_free_, 5);
00051   nh_.param("smoothness_cost_weight", params_.smoothness_cost_weight_, 0.1);
00052   nh_.param("obstacle_cost_weight", params_.obstacle_cost_weight_, 1.0);
00053   nh_.param("learning_rate", params_.learning_rate_, 0.01);
00054   nh_.param("animate_path", params_.animate_path_, true);
00055   nh_.param("add_randomness", params_.add_randomness_, false);
00056   nh_.param("smoothness_cost_velocity", params_.smoothness_cost_velocity_, 0.0);
00057   nh_.param("smoothness_cost_acceleration", params_.smoothness_cost_acceleration_, 1.0);
00058   nh_.param("smoothness_cost_jerk", params_.smoothness_cost_jerk_, 0.0);
00059   nh_.param("hmc_discretization", params_.hmc_discretization_, 0.01);
00060   nh_.param("hmc_stochasticity", params_.hmc_stochasticity_, 0.01);
00061   nh_.param("hmc_annealing_factor", params_.hmc_annealing_factor_, 0.99);
00062   nh_.param("use_hamiltonian_monte_carlo", params_.use_hamiltonian_monte_carlo_, false);
00063   nh_.param("ridge_factor", params_.ridge_factor_, 0.0);
00064   nh_.param("use_pseudo_inverse", params_.use_pseudo_inverse_, false);
00065   nh_.param("pseudo_inverse_ridge_factor", params_.pseudo_inverse_ridge_factor_, 1e-4);
00066   nh_.param("animate_endeffector", params_.animate_endeffector_, false);
00067   nh_.param("animate_endeffector_segment", params_.animate_endeffector_segment_, std::string("r_gripper_tool_frame"));
00068   nh_.param("joint_update_limit", params_.joint_update_limit_, 0.1);
00069   nh_.param("collision_clearence", params_.min_clearence_, 0.2);
00070   nh_.param("collision_threshold", params_.collision_threshold_, 0.07);
00071   nh_.param("random_jump_amount", params_.random_jump_amount_, 1.0);
00072   nh_.param("use_stochastic_descent", params_.use_stochastic_descent_, true);
00073   // filter_mode_ = false;
00074 }
00075 }


chomp_interface
Author(s): Gil Jones
autogenerated on Wed Jun 19 2019 19:24:10