This class generates noisy trajectories to an under-constrained cartesian goal pose. More...

#include <goal_guided_multivariate_gaussian.h>

Inheritance diagram for stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian:

Public Member Functions
virtual bool	configure (const XmlRpc::XmlRpcValue &config) override
	Sets internal members of the plugin from the configuration data. More...

virtual void	done (bool success, int total_iterations, double final_cost, const Eigen::MatrixXd &parameters)
	Called by the Stomp at the end of the optimization process. More...

virtual bool	generateNoise (const Eigen::MatrixXd &parameters, std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::MatrixXd &parameters_noise, Eigen::MatrixXd &noise) override
	Generates a noisy trajectory from the parameters. More...

virtual std::string	getGroupName () const

virtual std::string	getName () const

	GoalGuidedMultivariateGaussian ()

virtual bool	initialize (moveit::core::RobotModelConstPtr robot_model_ptr, const std::string &group_name, const XmlRpc::XmlRpcValue &config) override
	Initializes and configures. More...

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. More...

virtual	~GoalGuidedMultivariateGaussian ()

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 &parameters)

Protected Member Functions
virtual bool	generateRandomGoal (const Eigen::VectorXd &reference_joint_pose, Eigen::VectorXd &goal_joint_pose)
	Genereates a random tool pose by apply noise on the redundant axis to a reference tool pose;. More...

virtual bool	setupGoalConstraints (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::MotionPlanRequest &req, const stomp_core::StompConfiguration &config, moveit_msgs::MoveItErrorCodes &error_code)

virtual bool	setupNoiseGeneration (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::MotionPlanRequest &req, const stomp_core::StompConfiguration &config, moveit_msgs::MoveItErrorCodes &error_code)

Protected Attributes
boost::shared_ptr< RandomGenerator >	goal_rand_generator_
	Random generator for the tool goal pose. More...

std::string	group_

stomp_moveit::utils::kinematics::IKSolverPtr	ik_solver_

std::string	name_

Eigen::VectorXd	raw_noise_
	The noise vector. More...

moveit::core::RobotModelConstPtr	robot_model_

moveit::core::RobotStatePtr	state_

std::vector< double >	stddev_
	The standard deviations applied to each joint, [num_dimensions x 1. More...

Eigen::VectorXd	tool_goal_tolerance_

std::string	tool_link_

std::vector< utils::MultivariateGaussianPtr >	traj_noise_generators_
	Randomized numerical distribution generators, [6 x 1]. More...

Detailed Description

This class generates noisy trajectories to an under-constrained cartesian goal pose.

Examples:: All examples are located here STOMP Plugins Examples

Definition at line 51 of file goal_guided_multivariate_gaussian.h.

Constructor & Destructor Documentation

stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::GoalGuidedMultivariateGaussian ( )

Definition at line 51 of file goal_guided_multivariate_gaussian.cpp.

stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::~GoalGuidedMultivariateGaussian ( )

virtual

Definition at line 58 of file goal_guided_multivariate_gaussian.cpp.

Member Function Documentation

bool stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::configure ( const XmlRpc::XmlRpcValue & config )

overridevirtual

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::noise_generators::StompNoiseGenerator.

Definition at line 87 of file goal_guided_multivariate_gaussian.cpp.

virtual void stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::done	(	bool	success,
		int	total_iterations,
		double	final_cost,
		const Eigen::MatrixXd &	parameters
	)

inlinevirtual

Called by the Stomp 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::noise_generators::StompNoiseGenerator.

Definition at line 114 of file goal_guided_multivariate_gaussian.h.

bool stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::generateNoise	(	const Eigen::MatrixXd &	parameters,
		std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		int	rollout_number,
		Eigen::MatrixXd &	parameters_noise,
		Eigen::MatrixXd &	noise
	)

overridevirtual

Generates a noisy trajectory from the parameters.

Parameters

parameters	The current value of the optimized parameters [num_dimensions x num_parameters]
start_timestep	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
rollout_number	The index of the noisy trajectory.
parameters_noise	The parameters + noise
noise	The noise applied to the parameters

Returns: true if cost were properly computed, false otherwise.

Implements stomp_moveit::noise_generators::StompNoiseGenerator.

Definition at line 247 of file goal_guided_multivariate_gaussian.cpp.

bool stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::generateRandomGoal	(	const Eigen::VectorXd &	reference_joint_pose,
		Eigen::VectorXd &	goal_joint_pose
	)

protectedvirtual

Genereates a random tool pose by apply noise on the redundant axis to a reference tool pose;.

Parameters

reference_joint_pose	Joint position used in computing the reference tool pose with FK
goal_joint_pose	The joint position corresponding to the randomized tool pose

Returns: True if succeded, false otherwise

Definition at line 292 of file goal_guided_multivariate_gaussian.cpp.

virtual std::string stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::getGroupName ( ) const

inlinevirtual

Definition at line 123 of file goal_guided_multivariate_gaussian.h.

virtual std::string stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::getName ( ) const

inlinevirtual

Definition at line 117 of file goal_guided_multivariate_gaussian.h.

bool stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::initialize	(	moveit::core::RobotModelConstPtr	robot_model_ptr,
		const std::string &	group_name,
		const XmlRpc::XmlRpcValue &	config
	)

overridevirtual

Initializes and configures.

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::noise_generators::StompNoiseGenerator.

Definition at line 63 of file goal_guided_multivariate_gaussian.cpp.

bool stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::setMotionPlanRequest	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::MotionPlanRequest &	req,
		const stomp_core::StompConfiguration &	config,
		moveit_msgs::MoveItErrorCodes &	error_code
	)

overridevirtual

Stores the planning details.

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.

Implements stomp_moveit::noise_generators::StompNoiseGenerator.

Definition at line 122 of file goal_guided_multivariate_gaussian.cpp.

bool stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::setupGoalConstraints	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::MotionPlanRequest &	req,
		const stomp_core::StompConfiguration &	config,
		moveit_msgs::MoveItErrorCodes &	error_code
	)

protectedvirtual

Definition at line 180 of file goal_guided_multivariate_gaussian.cpp.

bool stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::setupNoiseGeneration	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::MotionPlanRequest &	req,
		const stomp_core::StompConfiguration &	config,
		moveit_msgs::MoveItErrorCodes &	error_code
	)

protectedvirtual

Definition at line 133 of file goal_guided_multivariate_gaussian.cpp.

Member Data Documentation

boost::shared_ptr<RandomGenerator> stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::goal_rand_generator_

protected

Random generator for the tool goal pose.

Definition at line 166 of file goal_guided_multivariate_gaussian.h.

std::string stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::group_

protected

Definition at line 152 of file goal_guided_multivariate_gaussian.h.

stomp_moveit::utils::kinematics::IKSolverPtr stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::ik_solver_

protected

Definition at line 171 of file goal_guided_multivariate_gaussian.h.

std::string stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::name_

protected

Definition at line 151 of file goal_guided_multivariate_gaussian.h.

Eigen::VectorXd stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::raw_noise_

protected

The noise vector.

Definition at line 163 of file goal_guided_multivariate_gaussian.h.

moveit::core::RobotModelConstPtr stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::robot_model_

protected

Definition at line 169 of file goal_guided_multivariate_gaussian.h.

moveit::core::RobotStatePtr stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::state_

protected

Definition at line 170 of file goal_guided_multivariate_gaussian.h.

std::vector<double> stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::stddev_

protected

The standard deviations applied to each joint, [num_dimensions x 1.

Definition at line 159 of file goal_guided_multivariate_gaussian.h.

Eigen::VectorXd stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::tool_goal_tolerance_

protected

Definition at line 156 of file goal_guided_multivariate_gaussian.h.

std::string stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::tool_link_

protected

Definition at line 155 of file goal_guided_multivariate_gaussian.h.

std::vector<utils::MultivariateGaussianPtr> stomp_moveit::noise_generators::GoalGuidedMultivariateGaussian::traj_noise_generators_

protected

Randomized numerical distribution generators, [6 x 1].

Definition at line 162 of file goal_guided_multivariate_gaussian.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation