Uses a normal distribution to apply noise onto the trajectory. More...
#include <normal_distribution_sampling.h>
Public Member Functions | |
virtual bool | configure (const XmlRpc::XmlRpcValue &config) override |
see base class for documentation | |
virtual void | done (bool success, int total_iterations, double final_cost, const Eigen::MatrixXd ¶meters) |
Called by the Stomp at the end of the optimization process. More... | |
virtual bool | generateNoise (const Eigen::MatrixXd ¶meters, std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::MatrixXd ¶meters_noise, Eigen::MatrixXd &noise) override |
Generates a noisy trajectory from the parameters. More... | |
virtual std::string | getGroupName () const |
virtual std::string | getName () const |
virtual bool | initialize (moveit::core::RobotModelConstPtr robot_model_ptr, const std::string &group_name, const XmlRpc::XmlRpcValue &config) override |
see base class for documentation | |
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 |
see base class for documentation | |
Public Member Functions inherited from stomp_moveit::noise_generators::StompNoiseGenerator | |
virtual void | postIteration (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, double cost, const Eigen::MatrixXd ¶meters) |
Called by STOMP at the end of each iteration. More... | |
Protected Attributes | |
std::string | group_ |
std::string | name_ |
std::vector< utils::MultivariateGaussianPtr > | rand_generators_ |
Eigen::VectorXd | raw_noise_ |
std::vector< double > | stddev_ |
Uses a normal distribution to apply noise onto the trajectory.
Definition at line 45 of file normal_distribution_sampling.h.
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inlinevirtual |
Called by the Stomp at the end of the optimization process.
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::noise_generators::StompNoiseGenerator.
Definition at line 91 of file normal_distribution_sampling.h.
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overridevirtual |
Generates a noisy trajectory from the parameters.
parameters | The current value of the optimized parameters to add noise to [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. |
parameters_noise | the parameters + noise |
noise | the noise applied to the parameters |
Implements stomp_moveit::noise_generators::StompNoiseGenerator.
Definition at line 152 of file normal_distribution_sampling.cpp.