.. _program_listing_file__tmp_ws_src_pick_ik_include_pick_ik_ik_gradient.hpp:

Program Listing for File ik_gradient.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_pick_ik_include_pick_ik_ik_gradient.hpp>` (``/tmp/ws/src/pick_ik/include/pick_ik/ik_gradient.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #pragma once
   
   #include <pick_ik/goal.hpp>
   #include <pick_ik/robot.hpp>
   
   #include <chrono>
   #include <memory>
   #include <moveit/robot_model/joint_model_group.h>
   #include <moveit/robot_model/robot_model.h>
   #include <optional>
   #include <vector>
   
   namespace pick_ik {
   
   struct GradientIkParams {
       double step_size = 0.0001;        // Step size for gradient descent.
       double min_cost_delta = 1.0e-12;  // Minimum cost difference for termination.
       double max_time = 0.05;           // Maximum time elapsed for termination.
       int max_iterations = 100;         // Maximum iterations for termination.
       // If false, keeps running after finding a solution to further optimize the solution until a
       // time or iteration limit is reached. If true, stop thread on finding a valid solution.
       bool stop_optimization_on_valid_solution = true;
   };
   
   struct GradientIk {
       std::vector<double> gradient;
       std::vector<double> working;
       std::vector<double> local;
       std::vector<double> best;
       double local_cost;
       double best_cost;
   
       static GradientIk from(std::vector<double> const& initial_guess, CostFn const& cost_fn);
   };
   
   auto step(GradientIk& self, Robot const& robot, CostFn const& cost_fn, double step_size) -> bool;
   
   auto ik_gradient(std::vector<double> const& initial_guess,
                    Robot const& robot,
                    CostFn const& cost_fn,
                    SolutionTestFn const& solution_fn,
                    GradientIkParams const& params,
                    bool approx_solution) -> std::optional<std::vector<double>>;
   
   }  // namespace pick_ik