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.