chomp::ChompOptimizer Class Reference

#include <chomp_optimizer.h>

Public Member Functions
	ChompOptimizer (ChompTrajectory trajectory, const ChompRobotModel robot_model, const ChompRobotModel::ChompPlanningGroup planning_group, const ChompParameters parameters, const ros::Publisher &vis_marker_array_publisher, const ros::Publisher &vis_marker_publisher, ChompCollisionSpace *collision_space)
void	optimize ()
virtual	~ChompOptimizer ()
Private Member Functions
void	addIncrementsToTrajectory ()
void	animateEndeffector ()
void	animatePath ()
void	calculateCollisionIncrements ()
void	calculatePseudoInverse ()
void	calculateSmoothnessIncrements ()
void	calculateTotalIncrements ()
void	debugCost ()
void	eigenMapTest ()
double	getCollisionCost ()
void	getRandomMomentum ()
double	getSmoothnessCost ()
double	getTrajectoryCost ()
void	handleJointLimits ()
void	initialize ()
void	performForwardKinematics ()
void	perturbTrajectory ()
void	updateFullTrajectory ()
void	updateMomentum ()
void	updatePositionFromMomentum ()
void	visualizeState (int index)
Private Attributes
int	animate_endeffector_segment_number_
Eigen::MatrixXd	best_group_trajectory_
double	best_group_trajectory_cost_
int	collision_free_iteration_
Eigen::MatrixXd	collision_increments_
std::vector< std::vector < KDL::Vector > >	collision_point_acc_
std::vector< std::vector < Eigen::Map< Eigen::Vector3d > > >	collision_point_acc_eigen_
std::vector< std::vector < KDL::Vector > >	collision_point_pos_
std::vector< std::vector < Eigen::Map< Eigen::Vector3d > > >	collision_point_pos_eigen_
std::vector< std::vector < double > >	collision_point_potential_
std::vector< std::vector < Eigen::Vector3d > >	collision_point_potential_gradient_
std::vector< std::vector < KDL::Vector > >	collision_point_vel_
std::vector< std::vector < Eigen::Map< Eigen::Vector3d > > >	collision_point_vel_eigen_
std::vector< std::vector < double > >	collision_point_vel_mag_
ChompCollisionSpace *	collision_space_
Eigen::MatrixXd	final_increments_
int	free_vars_end_
int	free_vars_start_
ChompTrajectory *	full_trajectory_
std::vector< int >	group_joint_to_kdl_joint_index_
ChompTrajectory	group_trajectory_
Eigen::MatrixXd	group_trajectory_backup_
bool	is_collision_free_
int	iteration_
Eigen::MatrixXd	jacobian_
Eigen::MatrixXd	jacobian_jacobian_tranpose_
Eigen::MatrixXd	jacobian_pseudo_inverse_
std::vector< std::vector < KDL::Vector > >	joint_axis_
std::vector< std::vector < Eigen::Map< Eigen::Vector3d > > >	joint_axis_eigen_
std::vector< ChompCost >	joint_costs_
std::vector< std::vector < KDL::Vector > >	joint_pos_
std::vector< std::vector < Eigen::Map< Eigen::Vector3d > > >	joint_pos_eigen_
Eigen::VectorXd	joint_state_velocities_
KDL::JntArray	kdl_joint_array_
int	last_improvement_iteration_
Eigen::MatrixXd	momentum_
std::vector< MultivariateGaussian >	multivariate_gaussian_
int	num_collision_points_
int	num_joints_
int	num_vars_all_
int	num_vars_free_
const ChompParameters *	parameters_
const ChompRobotModel::ChompPlanningGroup *	planning_group_
std::vector< std::vector< int > >	point_is_in_collision_
Eigen::VectorXd	random_joint_momentum_
Eigen::MatrixXd	random_momentum_
Eigen::VectorXd	random_state_
const ChompRobotModel *	robot_model_
std::vector< std::vector < KDL::Frame > >	segment_frames_
Eigen::VectorXd	smoothness_derivative_
Eigen::MatrixXd	smoothness_increments_
std::vector< int >	state_is_in_collision_
double	stochasticity_factor_
ros::Publisher	vis_marker_array_pub_
ros::Publisher	vis_marker_pub_
double	worst_collision_cost_state_

Detailed Description

Definition at line 48 of file chomp_optimizer.h.

Constructor & Destructor Documentation

chomp::ChompOptimizer::ChompOptimizer	(	ChompTrajectory *	trajectory,
		const ChompRobotModel *	robot_model,
		const ChompRobotModel::ChompPlanningGroup *	planning_group,
		const ChompParameters *	parameters,
		const ros::Publisher &	vis_marker_array_publisher,
		const ros::Publisher &	vis_marker_publisher,
		ChompCollisionSpace *	collision_space
	)