chomp_parameters.cpp
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00034 
00037 #include <chomp_motion_planner/chomp_parameters.h>
00038 
00039 namespace chomp
00040 {
00041 
00042 ChompParameters::ChompParameters()
00043 {
00044   planning_time_limit_ = 6.0;
00045   max_iterations_ = 50;
00046   max_iterations_after_collision_free_ = 5;
00047   smoothness_cost_weight_= 0.1;
00048   obstacle_cost_weight_ = 1.0;
00049   learning_rate_ = 0.01;
00050   animate_path_ = true;
00051   add_randomness_ = false;
00052   smoothness_cost_velocity_ = 0.0;
00053   smoothness_cost_acceleration_ = 1.0;
00054   smoothness_cost_jerk_ = 0.0;
00055   hmc_discretization_ = 0.01;
00056   hmc_stochasticity_ = 0.01;
00057   hmc_annealing_factor_ = 0.99;
00058   use_hamiltonian_monte_carlo_ = false;
00059   ridge_factor_ = 0.0;
00060   use_pseudo_inverse_ = false;
00061   pseudo_inverse_ridge_factor_ = 1e-4;
00062   animate_endeffector_ = false;
00063   animate_endeffector_segment_ = std::string("r_gripper_tool_frame");
00064   joint_update_limit_ = 0.1;
00065   min_clearence_ = 0.2;
00066   collision_threshold_ = 0.07;
00067   random_jump_amount_ = 1.0;
00068   use_stochastic_descent_ = true;
00069   filter_mode_ = false;
00070 
00071 }
00072 
00073 ChompParameters::~ChompParameters()
00074 {
00075 }
00076 
00077 } // namespace chomp


chomp_motion_planner
Author(s): Gil Jones
autogenerated on Mon Oct 6 2014 11:12:26