Evaluates the cost of the goal pose by determining how far the Cartesian tool pose is from the desired under-constrained task manifold. More...

#include <tool_goal_pose.h>

Inheritance diagram for stomp_moveit::cost_functions::ToolGoalPose:

[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) override
	computes the goal state costs as a function of the distance from the desired task manifold.
virtual bool	configure (const XmlRpc::XmlRpcValue &config) override
	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) override
	Called by the Stomp Task at the end of the optimization process.
virtual std::string	getGroupName () const override
virtual std::string	getName () const override
virtual bool	initialize (moveit::core::RobotModelConstPtr robot_model_ptr, const std::string &group_name, XmlRpc::XmlRpcValue &config) override
	Initializes and configures the Cost Function.
virtual bool	setMotionPlanRequest (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::MotionPlanRequest &req, const stomp_core::StompConfiguration &config, moveit_msgs::MoveItErrorCodes &error_code) override
	Stores the planning details which will be used during the costs calculations.
	ToolGoalPose ()
virtual	~ToolGoalPose ()
Protected Attributes
Eigen::ArrayXi	dof_nullity_
	Indicates which cartesian DOF's are unconstrained (0) and fully constrained (1)
std::string	group_name_
Eigen::VectorXd	last_joint_pose_
Eigen::Affine3d	last_tool_pose_
std::string	name_
double	orientation_cost_weight_
	factor multiplied to the scaled orientation error
std::pair< double, double >	orientation_error_range_
	The allowed orientation error range as euler angles, [2 x 1].
moveit_msgs::MotionPlanRequest	plan_request_
planning_scene::PlanningSceneConstPtr	planning_scene_
double	position_cost_weight_
	factor multiplied to the scaled position error
std::pair< double, double >	position_error_range_
	The allowed position error range, [2 x 1].
moveit::core::RobotModelConstPtr	robot_model_
moveit::core::RobotStatePtr	state_
Eigen::Affine3d	tool_goal_pose_
	The desired goal pose for the active plan request.
std::string	tool_link_
Eigen::VectorXd	tool_twist_error_

Detailed Description

Evaluates the cost of the goal pose by determining how far the Cartesian tool pose is from the desired under-constrained task manifold.

Examples:: All examples are located here stomp_core examples

Definition at line 48 of file tool_goal_pose.h.

Constructor & Destructor Documentation

stomp_moveit::cost_functions::ToolGoalPose::ToolGoalPose ( )

Definition at line 41 of file tool_goal_pose.cpp.

stomp_moveit::cost_functions::ToolGoalPose::~ToolGoalPose ( ) [virtual]

Definition at line 48 of file tool_goal_pose.cpp.

Member Function Documentation

bool stomp_moveit::cost_functions::ToolGoalPose::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
	)		`[override, virtual]`

computes the goal state costs as a function of the distance from the desired task manifold.

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. Only the array's last entry is set. [num_parameters x 1]
validity	whether or not the trajectory is valid

Returns:: true if cost were properly computed

Implements stomp_moveit::cost_functions::StompCostFunction.

Definition at line 188 of file tool_goal_pose.cpp.

bool stomp_moveit::cost_functions::ToolGoalPose::configure ( const XmlRpc::XmlRpcValue & config ) [override, 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.

Implements stomp_moveit::cost_functions::StompCostFunction.

Definition at line 62 of file tool_goal_pose.cpp.

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

Definition at line 123 of file tool_goal_pose.h.

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

Reimplemented from stomp_moveit::cost_functions::StompCostFunction.

Definition at line 104 of file tool_goal_pose.h.

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

Reimplemented from stomp_moveit::cost_functions::StompCostFunction.

Definition at line 110 of file tool_goal_pose.h.

bool stomp_moveit::cost_functions::ToolGoalPose::initialize	(	moveit::core::RobotModelConstPtr	robot_model_ptr,
		const std::string &	group_name,
		XmlRpc::XmlRpcValue &	config
	)		`[override, 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.

Implements stomp_moveit::cost_functions::StompCostFunction.

Definition at line 53 of file tool_goal_pose.cpp.

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