The data structure used to store STOMP configuration parameters. More...
#include <utils.h>
Public Attributes | |
double | control_cost_weight |
Percentage of the trajectory accelerations cost to be applied in the total cost calculation > | |
double | delta_t |
Time change between consecutive points. | |
double | exponentiated_cost_sensitivity |
Default exponetiated cost sensitivity coefficient. | |
int | initialization_method |
TrajectoryInitializations::TrajectoryInitialization. | |
int | max_rollouts |
The combined number of new and old rollouts during each iteration shouldn't exceed this value. | |
int | num_dimensions |
Parameter dimensionality. | |
int | num_iterations |
Maximum number of iteration allowed. | |
int | num_iterations_after_valid |
Stomp will stop optimizing this many iterations after finding a valid solution. | |
int | num_rollouts |
Number of noisy trajectories. | |
int | num_timesteps |
Number of timesteps. |
The data structure used to store STOMP configuration parameters.