chomp_interface.cpp

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/* Author: E. Gil Jones */
 
#include <chomp_interface/chomp_interface.h>
 
namespace chomp_interface
{
CHOMPInterface::CHOMPInterface(const ros::NodeHandle& nh) : ChompPlanner(), nh_(nh)
{
  loadParams();
}
 
void CHOMPInterface::loadParams()
{
  nh_.param("planning_time_limit", params_.planning_time_limit_, 10.0);
  nh_.param("max_iterations", params_.max_iterations_, 200);
  nh_.param("max_iterations_after_collision_free", params_.max_iterations_after_collision_free_, 5);
  nh_.param("smoothness_cost_weight", params_.smoothness_cost_weight_, 0.1);
  nh_.param("obstacle_cost_weight", params_.obstacle_cost_weight_, 1.0);
  nh_.param("learning_rate", params_.learning_rate_, 0.01);
 
  nh_.param("smoothness_cost_velocity", params_.smoothness_cost_velocity_, 0.0);
  nh_.param("smoothness_cost_acceleration", params_.smoothness_cost_acceleration_, 1.0);
  nh_.param("smoothness_cost_jerk", params_.smoothness_cost_jerk_, 0.0);
  nh_.param("ridge_factor", params_.ridge_factor_, 0.0);
  nh_.param("use_pseudo_inverse", params_.use_pseudo_inverse_, false);
  nh_.param("pseudo_inverse_ridge_factor", params_.pseudo_inverse_ridge_factor_, 1e-4);
 
  nh_.param("joint_update_limit", params_.joint_update_limit_, 0.1);
  // TODO: remove this warning after 06/2022
  if (!nh_.hasParam("collision_clearance") && nh_.hasParam("collision_clearence"))
    ROS_WARN("The param 'collision_clearence' has been renamed to 'collision_clearance', please update your config!");
  nh_.param("collision_clearance", params_.min_clearance_, 0.2);
  nh_.param("collision_threshold", params_.collision_threshold_, 0.07);
  nh_.param("use_stochastic_descent", params_.use_stochastic_descent_, true);
  {
    params_.trajectory_initialization_method_ = "quintic-spline";
    std::string method;
    if (nh_.getParam("trajectory_initialization_method", method) && !params_.setTrajectoryInitializationMethod(method))
      ROS_ERROR_STREAM("Attempted to set trajectory_initialization_method to invalid value '"
                       << method << "'. Using default '" << params_.trajectory_initialization_method_ << "' instead.");
  }
  nh_.param("enable_failure_recovery", params_.enable_failure_recovery_, false);
  nh_.param("max_recovery_attempts", params_.max_recovery_attempts_, 5);
}
}  // namespace chomp_interface