Assigns a cost value to each robot state by evaluating the minimum distance between the robot and the nearest obstacle. More...

#include <stomp_cost_function.h>

Inheritance diagram for stomp_moveit::cost_functions::StompCostFunction:

[legend]

List of all members.

Public Member Functions
virtual bool	computeCosts (const Eigen::MatrixXd &parameters, std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::VectorXd &costs, bool &validity)=0
	computes the state costs as a function of the parameters for each time step.
virtual bool	configure (const XmlRpc::XmlRpcValue &config)=0
	Sets internal members of the plugin from the configuration data.
virtual void	done (bool success, int total_iterations, double final_cost, const Eigen::MatrixXd &parameters)
	Called by the Stomp Task at the end of the optimization process.
virtual std::string	getGroupName () const
virtual std::string	getName () const
virtual int	getOptimizedIndex () const
	The index returned by this method will be passed by the Task to the corresponding plugin method as the 'rollout_number' argument when operating on the noiseless (optimized) parameters.
virtual double	getWeight () const
virtual bool	initialize (moveit::core::RobotModelConstPtr robot_model_ptr, const std::string &group_name, XmlRpc::XmlRpcValue &config)=0
	Initializes and configures the Cost Function.
virtual void	postIteration (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, double cost, const Eigen::MatrixXd &parameters)
	Called by STOMP at the end of each iteration.
virtual bool	setMotionPlanRequest (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::MotionPlanRequest &req, const stomp_core::StompConfiguration &config, moveit_msgs::MoveItErrorCodes &error_code)=0
	Stores the planning details which will be used during the costs calculations.
	StompCostFunction ()
virtual	~StompCostFunction ()
Protected Attributes
double	cost_weight_

Detailed Description

Assigns a cost value to each robot state by evaluating the minimum distance between the robot and the nearest obstacle.

The interface class for the STOMP cost functions.

Examples:: All examples are located here stomp_core examples

Definition at line 53 of file stomp_cost_function.h.

Constructor & Destructor Documentation

stomp_moveit::cost_functions::StompCostFunction::StompCostFunction ( ) [inline]

Definition at line 56 of file stomp_cost_function.h.

virtual stomp_moveit::cost_functions::StompCostFunction::~StompCostFunction ( ) [inline, virtual]

Definition at line 62 of file stomp_cost_function.h.

Member Function Documentation

virtual bool stomp_moveit::cost_functions::StompCostFunction::computeCosts	(	const Eigen::MatrixXd &	parameters,
		std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		int	rollout_number,
		Eigen::VectorXd &	costs,
		bool &	validity
	)		`[pure virtual]`

computes the state costs as a function of the parameters for each time step.

Parameters:

parameters	The parameter values to evaluate for state costs [num_dimensions x num_parameters]
start_timestep	start index into the 'parameters' array, usually 0.
num_timesteps	number of elements to use from 'parameters' starting from 'start_timestep' *
iteration_number	The current iteration count in the optimization loop
rollout_number	index of the noisy trajectory whose cost is being evaluated. *
costs	vector containing the state costs per timestep.
validity	whether or not the trajectory is valid

Returns:: false if there was an irrecoverable failure, true otherwise.

Implemented in stomp_moveit::cost_functions::CollisionCheck, and stomp_moveit::cost_functions::ObstacleDistanceGradient.

virtual bool stomp_moveit::cost_functions::StompCostFunction::configure ( const XmlRpc::XmlRpcValue & config ) [pure virtual]

Sets internal members of the plugin from the configuration data.

Parameters:

config The configuration data . Usually loaded from the ros parameter server

Returns:: true if succeeded, false otherwise.

Implemented in stomp_moveit::cost_functions::CollisionCheck, and stomp_moveit::cost_functions::ObstacleDistanceGradient.

virtual void stomp_moveit::cost_functions::StompCostFunction::done	(	bool	success,
		int	total_iterations,
		double	final_cost,
		const Eigen::MatrixXd &	parameters
	)		`[inline, virtual]`

Called by the Stomp Task at the end of the optimization process.

Parameters:

success	Whether the optimization succeeded
total_iterations	Number of iterations used
final_cost	The cost value after optimizing.
parameters	The parameters generated at the end of current iteration [num_dimensions x num_timesteps]

Reimplemented in stomp_moveit::cost_functions::CollisionCheck, and stomp_moveit::cost_functions::ObstacleDistanceGradient.

Definition at line 133 of file stomp_cost_function.h.

virtual std::string stomp_moveit::cost_functions::StompCostFunction::getGroupName ( ) const [inline, virtual]

Reimplemented in stomp_moveit::cost_functions::CollisionCheck, and stomp_moveit::cost_functions::ObstacleDistanceGradient.

Definition at line 136 of file stomp_cost_function.h.

virtual std::string stomp_moveit::cost_functions::StompCostFunction::getName ( ) const [inline, virtual]

Reimplemented in stomp_moveit::cost_functions::CollisionCheck, and stomp_moveit::cost_functions::ObstacleDistanceGradient.

Definition at line 146 of file stomp_cost_function.h.

virtual int stomp_moveit::cost_functions::StompCostFunction::getOptimizedIndex ( ) const [inline, virtual]

The index returned by this method will be passed by the Task to the corresponding plugin method as the 'rollout_number' argument when operating on the noiseless (optimized) parameters.

Definition at line 156 of file stomp_cost_function.h.

virtual double stomp_moveit::cost_functions::StompCostFunction::getWeight ( ) const [inline, virtual]

Definition at line 141 of file stomp_cost_function.h.

virtual bool stomp_moveit::cost_functions::StompCostFunction::initialize	(	moveit::core::RobotModelConstPtr	robot_model_ptr,
		const std::string &	group_name,
		XmlRpc::XmlRpcValue &	config
	)		`[pure virtual]`

Initializes and configures the Cost Function.

Parameters:

robot_model_ptr	A pointer to the robot model.
group_name	The designated planning group.
config	The configuration data. Usually loaded from the ros parameter server

Returns:: true if succeeded, false otherwise.

Implemented in stomp_moveit::cost_functions::CollisionCheck, and stomp_moveit::cost_functions::ObstacleDistanceGradient.

virtual void stomp_moveit::cost_functions::StompCostFunction::postIteration	(	std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		double	cost,
		const Eigen::MatrixXd &	parameters
	)		`[inline, virtual]`

Called by STOMP at the end of each iteration.

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
cost	The cost value for the current parameters.
parameters	The value of the parameters at the end of the current iteration [num_dimensions x num_timesteps].

Definition at line 122 of file stomp_cost_function.h.

virtual bool stomp_moveit::cost_functions::StompCostFunction::setMotionPlanRequest	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::MotionPlanRequest &	req,
		const stomp_core::StompConfiguration &	config,
		moveit_msgs::MoveItErrorCodes &	error_code
	)		`[pure virtual]`

Stores the planning details which will be used during the costs calculations.

Parameters:

planning_scene	A smart pointer to the planning scene
req	The motion planning request
config	The Stomp configuration.
error_code	Moveit error code.

Returns:: true if succeeded, false otherwise.

Implemented in stomp_moveit::cost_functions::CollisionCheck, and stomp_moveit::cost_functions::ObstacleDistanceGradient.

Member Data Documentation

double stomp_moveit::cost_functions::StompCostFunction::cost_weight_ [protected]

Definition at line 164 of file stomp_cost_function.h.

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

stomp_cost_function.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation