DummyTask Class Reference

A dummy task for testing STOMP. More...

Inheritance diagram for DummyTask:

List of all members.

Public Member Functions
bool	computeCosts (const Trajectory &parameters, std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, Eigen::VectorXd &costs, bool &validity) override
bool	computeNoisyCosts (const Trajectory &parameters, std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::VectorXd &costs, bool &validity) override
	DummyTask (const Trajectory &parameters_bias, const std::vector< double > &bias_thresholds, const std::vector< double > &std_dev)
	A dummy task for testing Stomp.
bool	filterParameterUpdates (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, const Eigen::MatrixXd &parameters, Eigen::MatrixXd &updates) override
	Filters the given parameters which is applied after the update. It could be used for clipping of joint limits or projecting into the null space of the Jacobian.
bool	generateNoisyParameters (const Eigen::MatrixXd &parameters, std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::MatrixXd &parameters_noise, Eigen::MatrixXd &noise) override
	See base clase for documentation.
Protected Member Functions
bool	smoothParameterUpdates (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, Eigen::MatrixXd &updates)
	Perform a smooth update given a noisy update.
Protected Attributes
std::vector< double >	bias_thresholds_
Trajectory	parameters_bias_
Eigen::MatrixXd	smoothing_M_
std::vector< double >	std_dev_

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Detailed Description

A dummy task for testing STOMP.

Definition at line 46 of file stomp_3dof.cpp.

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Constructor & Destructor Documentation

DummyTask::DummyTask	(	const Trajectory &	parameters_bias,
		const std::vector< double > &	bias_thresholds,
		const std::vector< double > &	std_dev
	)		[inline]

A dummy task for testing Stomp.

Parameters:

parameters_bias	default parameter bias used for computing cost for the test
bias_thresholds	threshold to determine whether two trajectories are equal
std_dev	standard deviation used for generating noisy parameters

Definition at line 55 of file stomp_3dof.cpp.

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Member Function Documentation

bool DummyTask::filterParameterUpdates	(	std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		const Eigen::MatrixXd &	parameters,
		Eigen::MatrixXd &	updates
	)		[inline, override, virtual]

Filters the given parameters which is applied after the update. It could be used for clipping of joint limits or projecting into the null space of the Jacobian.

Parameters:

start_timestep	The start index into the 'parameters' array, usually 0.
num_timesteps	The number of elements to use from 'parameters' starting from 'start_timestep'
iteration_number	The current iteration count in the optimization loop
parameters	The optimized parameters
updates	The updates to the parameters

Returns:

True if successful, otherwise false

Reimplemented from stomp_core::Task.

Definition at line 139 of file stomp_3dof.cpp.

bool DummyTask::smoothParameterUpdates	(	std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		Eigen::MatrixXd &	updates
	)		[inline, protected]

Perform a smooth update given a noisy update.

Parameters:

start_timestep	starting timestep
num_timesteps	number of timesteps
iteration_number	number of interations allowed
updates	returned smooth update

Returns:

True if successful, otherwise false

Definition at line 159 of file stomp_3dof.cpp.

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Member Data Documentation

std::vector<double> DummyTask::bias_thresholds_ [protected]

Threshold to determine whether two trajectories are equal

Definition at line 176 of file stomp_3dof.cpp.

Trajectory DummyTask::parameters_bias_ [protected]

Parameter bias used for computing cost for the test

Definition at line 175 of file stomp_3dof.cpp.

Eigen::MatrixXd DummyTask::smoothing_M_ [protected]

Matrix used for smoothing the trajectory

Definition at line 178 of file stomp_3dof.cpp.

std::vector<double> DummyTask::std_dev_ [protected]

Standard deviation used for generating noisy parameters

Definition at line 177 of file stomp_3dof.cpp.

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The documentation for this class was generated from the following file:

• stomp_3dof.cpp