00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Mrinal Kalakrishnan */ 00036 00037 #include <chomp_motion_planner/chomp_parameters.h> 00038 00039 namespace chomp 00040 { 00041 ChompParameters::ChompParameters() 00042 { 00043 planning_time_limit_ = 6.0; 00044 max_iterations_ = 50; 00045 max_iterations_after_collision_free_ = 5; 00046 smoothness_cost_weight_ = 0.1; 00047 obstacle_cost_weight_ = 1.0; 00048 learning_rate_ = 0.01; 00049 animate_path_ = true; 00050 add_randomness_ = false; 00051 smoothness_cost_velocity_ = 0.0; 00052 smoothness_cost_acceleration_ = 1.0; 00053 smoothness_cost_jerk_ = 0.0; 00054 hmc_discretization_ = 0.01; 00055 hmc_stochasticity_ = 0.01; 00056 hmc_annealing_factor_ = 0.99; 00057 use_hamiltonian_monte_carlo_ = false; 00058 ridge_factor_ = 0.0; 00059 use_pseudo_inverse_ = false; 00060 pseudo_inverse_ridge_factor_ = 1e-4; 00061 animate_endeffector_ = false; 00062 animate_endeffector_segment_ = std::string("r_gripper_tool_frame"); 00063 joint_update_limit_ = 0.1; 00064 min_clearence_ = 0.2; 00065 collision_threshold_ = 0.07; 00066 random_jump_amount_ = 1.0; 00067 use_stochastic_descent_ = true; 00068 filter_mode_ = false; 00069 } 00070 00071 ChompParameters::~ChompParameters() 00072 { 00073 } 00074 00075 } // namespace chomp