SimAnn Class Reference

#include <simAnn.h>

Public Types
enum	Result { FAIL = 0, JUMP = 1, KEEP = 2 }
	Possible return codes for an annealing step. More...
Public Member Functions
int	getCurrentStep ()
Result	iterate (GraspPlanningState currentState, SearchEnergy energyCalculator, GraspPlanningState *targetState=NULL)
	The main interface to this class. Performs one annealing step.
void	reset ()
void	setParameters (AnnealingType type)
	SimAnn ()
void	writeResults (bool w)
	~SimAnn ()
Private Member Functions
double	biasedNeighborDistribution (double T, double in, double conf)
	Generates neighbors according to a desired value, or "input", along each dimension.
double	cooling (double t0, double c, int k, int d)
double	neighborDistribution (double T)
double	neighborInverse (double T, double y)
double	prob (double e_old, double e_new, double t)
GraspPlanningState *	stateNeighbor (GraspPlanningState s, double T, GraspPlanningState t=NULL)
	Computes a neighbor of a given HandObjectState.
void	variableNeighbor (VariableSet set, double T, VariableSet target=NULL)
	Computes the neighbor of one individual variable.
Private Attributes
double	DEF_K0
	Starting step.
double	DEF_T0
	Starting temperatue.
double	ERR_ADJ
	Adjust raw errors reported by states to be in the relevant range of the annealing schedule.
double	HC
	Annealing constant for error acceptance schedule.
double	HDIMS
	Number of dimensions for error acceptance schedule.
long int	mCurrentStep
	The current step index, used by annealing schedule.
FILE *	mFile
	For writing results to file.
double	mT0
	The temperature at the beginning of the annealing process.
int	mTotalSteps
	Total steps since last reset (saved over re-anneals).
bool	mWriteResults
	For writing results to file.
double	NBR_ADJ
	Adjust factor for neighbor generation schedule.
double	YC
	Annealing constant for neighbor generation schedule.
double	YDIMS
	Number of dimensions for neighbor generation schedule.

Detailed Description

This class performs simulated annealing on a collection of variables (a GraspPlanningState*). It has no idea of grasps, hands, etc. The cooling schedule is inspired from L. Ingber, "Very Fast Simulated Re-Annealing", J. Mathl. Comput. Modelling, vol. 12, no. 8, pp. 967�973, December 1989.

Definition at line 46 of file simAnn.h.

Member Enumeration Documentation

enum SimAnn::Result

Possible return codes for an annealing step.

FAIL - no legal neighbor of the current state was found
KEEP - a legal neighbor was found, but the annealing procedure decided to keep the current state
JUMP - a jump was performed to a newly generated neighbor

Enumerator:

FAIL
JUMP
KEEP

Definition at line 58 of file simAnn.h.

Constructor & Destructor Documentation

SimAnn::SimAnn ( )

Definition at line 38 of file simAnn.cpp.

SimAnn::~SimAnn ( )

Definition at line 51 of file simAnn.cpp.

Member Function Documentation

double SimAnn::biasedNeighborDistribution	(	double	T,
		double	in,
		double	conf
	)			`[private]`

Generates neighbors according to a desired value, or "input", along each dimension.

Definition at line 336 of file simAnn.cpp.

double SimAnn::cooling	(	double	t0,
		double	c,
		int	k,
		int	d
	)			`[private]`

Definition at line 293 of file simAnn.cpp.

int SimAnn::getCurrentStep ( ) [inline]

Definition at line 110 of file simAnn.h.

SimAnn::Result SimAnn::iterate	(	GraspPlanningState *	currentState,
		SearchEnergy *	energyCalculator,
		GraspPlanningState *	targetState = `NULL`
	)

The main interface to this class. Performs one annealing step.

The caller passes it a HandObjectState and a calculator that can be used to compute the quality (or in annealing terms "energy") of a HandObjectState. This function computes the next state in the annealing schedule.

See SimAnn::Result declaration for possible return values.

Definition at line 161 of file simAnn.cpp.

double SimAnn::neighborDistribution ( double T ) [private]

Definition at line 312 of file simAnn.cpp.

double SimAnn::neighborInverse	(	double	T,
		double	y
	)			`[private]`

Definition at line 328 of file simAnn.cpp.

double SimAnn::prob	(	double	e_old,
		double	e_new,
		double	t
	)			`[private]`

Definition at line 305 of file simAnn.cpp.

void SimAnn::reset ( )

Definition at line 147 of file simAnn.cpp.

void SimAnn::setParameters ( AnnealingType type )

Definition at line 77 of file simAnn.cpp.

GraspPlanningState * SimAnn::stateNeighbor	(	GraspPlanningState *	s,
		double	T,
		GraspPlanningState *	t = `NULL`
	)			`[private]`

Computes a neighbor of a given HandObjectState.

Definition at line 226 of file simAnn.cpp.

void SimAnn::variableNeighbor	(	VariableSet *	set,
		double	T,
		VariableSet *	target = `NULL`
	)			`[private]`

Computes the neighbor of one individual variable.

Definition at line 240 of file simAnn.cpp.

void SimAnn::writeResults ( bool w )

Definition at line 57 of file simAnn.cpp.

Member Data Documentation

double SimAnn::DEF_K0 [private]

Starting step.

Definition at line 77 of file simAnn.h.

double SimAnn::DEF_T0 [private]

Starting temperatue.

Definition at line 75 of file simAnn.h.

double SimAnn::ERR_ADJ [private]

Adjust raw errors reported by states to be in the relevant range of the annealing schedule.

Definition at line 73 of file simAnn.h.

double SimAnn::HC [private]

Annealing constant for error acceptance schedule.

Definition at line 65 of file simAnn.h.

double SimAnn::HDIMS [private]

Number of dimensions for error acceptance schedule.

Definition at line 69 of file simAnn.h.

long int SimAnn::mCurrentStep [private]

The current step index, used by annealing schedule.

Definition at line 80 of file simAnn.h.

FILE* SimAnn::mFile [private]

For writing results to file.

Definition at line 89 of file simAnn.h.

double SimAnn::mT0 [private]

The temperature at the beginning of the annealing process.

Definition at line 82 of file simAnn.h.

int SimAnn::mTotalSteps [private]

Total steps since last reset (saved over re-anneals).

Definition at line 85 of file simAnn.h.

bool SimAnn::mWriteResults [private]

For writing results to file.

Definition at line 87 of file simAnn.h.

double SimAnn::NBR_ADJ [private]

Adjust factor for neighbor generation schedule.

Definition at line 71 of file simAnn.h.

double SimAnn::YC [private]

Annealing constant for neighbor generation schedule.

Definition at line 63 of file simAnn.h.

double SimAnn::YDIMS [private]

Number of dimensions for neighbor generation schedule.

Definition at line 67 of file simAnn.h.

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

/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/include/EGPlanner/simAnn.h
/opt/ros/diamondback/stacks/graspit_simulator/graspit/graspit_source/src/EGPlanner/simAnn.cpp

SimAnn Class Reference

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation