chomp_parameters.cpp
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00034 
00035 /* Author: Mrinal Kalakrishnan */
00036 
00037 #include <chomp_motion_planner/chomp_parameters.h>
00038 
00039 namespace chomp
00040 {
00041 ChompParameters::ChompParameters()
00042 {
00043   planning_time_limit_ = 6.0;
00044   max_iterations_ = 50;
00045   max_iterations_after_collision_free_ = 5;
00046   smoothness_cost_weight_ = 0.1;
00047   obstacle_cost_weight_ = 1.0;
00048   learning_rate_ = 0.01;
00049   animate_path_ = true;
00050   add_randomness_ = false;
00051   smoothness_cost_velocity_ = 0.0;
00052   smoothness_cost_acceleration_ = 1.0;
00053   smoothness_cost_jerk_ = 0.0;
00054   hmc_discretization_ = 0.01;
00055   hmc_stochasticity_ = 0.01;
00056   hmc_annealing_factor_ = 0.99;
00057   use_hamiltonian_monte_carlo_ = false;
00058   ridge_factor_ = 0.0;
00059   use_pseudo_inverse_ = false;
00060   pseudo_inverse_ridge_factor_ = 1e-4;
00061   animate_endeffector_ = false;
00062   animate_endeffector_segment_ = std::string("r_gripper_tool_frame");
00063   joint_update_limit_ = 0.1;
00064   min_clearence_ = 0.2;
00065   collision_threshold_ = 0.07;
00066   random_jump_amount_ = 1.0;
00067   use_stochastic_descent_ = true;
00068   filter_mode_ = false;
00069 }
00070 
00071 ChompParameters::~ChompParameters()
00072 {
00073 }
00074 
00075 }  // namespace chomp


chomp_motion_planner
Author(s): Gil Jones , Mrinal Kalakrishnan
autogenerated on Wed Jun 19 2019 19:24:07