Struct Rollout

Struct Documentation

struct Rollout

The data structure used to store information about a single rollout.

Public Members

Eigen::MatrixXd noise

A matrix [num_dimensions][num_time_steps] of random noise applied to the parameters.

Eigen::MatrixXd parameters_noise

A matrix [num_dimensions][num_time_steps] of the sum of parameters + noise.

Eigen::VectorXd state_costs

A vector [num_time_steps] of the cost at each timestep.

Eigen::MatrixXd control_costs

A matrix [num_dimensions][num_time_steps] of the control cost for each parameter at every timestep.

Eigen::MatrixXd total_costs

A matrix [num_dimensions][num_time_steps] of the total cost, where total_cost[d] = state_costs_ + control_costs_[d].

Eigen::MatrixXd probabilities

A matrix [num_dimensions][num_time_steps] of the probability for each parameter at every timestep.

std::vector<double> full_probabilities

A vector [num_dimensions] of the probabilities for the full trajectory.

std::vector<double> full_costs

A vector [num_dimensions] of the full coss, state_cost + control_cost for each joint over the entire trajectory full_costs_[d] = state_cost.sum() + control_cost[d].sum()

double importance_weight

importance sampling weight

double total_cost

combined state + control cost over the entire trajectory for all joints