Functions | Variables
stomp.cpp File Reference

This contains the stomp core algorithm. More...

#include <ros/console.h>
#include <limits.h>
#include <Eigen/LU>
#include <Eigen/Cholesky>
#include <math.h>
#include <stomp_core/utils.h>
#include <numeric>
#include "stomp_core/stomp.h"
Include dependency graph for stomp.cpp:

Go to the source code of this file.

Functions

static void computeCubicInterpolation (const std::vector< double > &first, const std::vector< double > &last, int num_points, double dt, Eigen::MatrixXd &trajectory_joints)
 Compute a cubic interpolated trajectory given a start and end state.
static void computeLinearInterpolation (const std::vector< double > &first, const std::vector< double > &last, int num_timesteps, Eigen::MatrixXd &trajectory_joints)
 Compute a linear interpolated trajectory given a start and end state.
bool computeMinCostTrajectory (const std::vector< double > &first, const std::vector< double > &last, const Eigen::MatrixXd &control_cost_matrix_R_padded, const Eigen::MatrixXd &inv_control_cost_matrix_R, Eigen::MatrixXd &trajectory_joints)
 Compute a minimum cost trajectory given a start and end state.
void computeParametersControlCosts (const Eigen::MatrixXd &parameters, double dt, double control_cost_weight, const Eigen::MatrixXd &control_cost_matrix_R, Eigen::MatrixXd &control_costs)
 Compute the parameters control costs.

Variables

static const double DEFAULT_NOISY_COST_IMPORTANCE_WEIGHT = 1.0
static const double MIN_CONTROL_COST_WEIGHT = 1e-8
static const double MIN_COST_DIFFERENCE = 1e-8

Detailed Description

This contains the stomp core algorithm.

Author:
Jorge Nicho
Date:
March 7, 2016
Version:
TODO
Bug:
No known bugs
License
Software License Agreement (Apache License)
Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Definition in file stomp.cpp.


Function Documentation

static void computeCubicInterpolation ( const std::vector< double > &  first,
const std::vector< double > &  last,
int  num_points,
double  dt,
Eigen::MatrixXd &  trajectory_joints 
) [static]

Compute a cubic interpolated trajectory given a start and end state.

Parameters:
firstThe start position
lastThe final position
num_pointsThe number of points in the trajectory
dtThe timestep in seconds
trajectory_jointsThe returned cubic interpolated trajectory

Definition at line 70 of file stomp.cpp.

static void computeLinearInterpolation ( const std::vector< double > &  first,
const std::vector< double > &  last,
int  num_timesteps,
Eigen::MatrixXd &  trajectory_joints 
) [static]

Compute a linear interpolated trajectory given a start and end state.

Parameters:
firstThe start position
lastThe final position
num_timestepsThe number of timesteps
trajectory_jointsThe returned linear interpolated trajectory

Definition at line 47 of file stomp.cpp.

bool computeMinCostTrajectory ( const std::vector< double > &  first,
const std::vector< double > &  last,
const Eigen::MatrixXd &  control_cost_matrix_R_padded,
const Eigen::MatrixXd &  inv_control_cost_matrix_R,
Eigen::MatrixXd &  trajectory_joints 
)

Compute a minimum cost trajectory given a start and end state.

Parameters:
firstThe start position
lastThe final position
control_cost_matrix_R_paddedThe control cost matrix with padding
inv_control_cost_matrix_RThe inverse constrol cost matrix
trajectory_jointsThe returned minimum cost trajectory
Returns:
True if successful, otherwise false

Definition at line 100 of file stomp.cpp.

void computeParametersControlCosts ( const Eigen::MatrixXd &  parameters,
double  dt,
double  control_cost_weight,
const Eigen::MatrixXd &  control_cost_matrix_R,
Eigen::MatrixXd &  control_costs 
)

Compute the parameters control costs.

Parameters:
parametersThe parameters used to compute the control cost
dtThe timestep in seconds
control_cost_weightThe control cost weight
control_cost_matrix_RThe control cost matrix
control_costsreturns The parameters control costs

Definition at line 149 of file stomp.cpp.


Variable Documentation

const double DEFAULT_NOISY_COST_IMPORTANCE_WEIGHT = 1.0 [static]

Default noisy cost importance weight

Definition at line 36 of file stomp.cpp.

const double MIN_CONTROL_COST_WEIGHT = 1e-8 [static]

Minimum control cost weight allowed

Definition at line 38 of file stomp.cpp.

const double MIN_COST_DIFFERENCE = 1e-8 [static]

Minimum cost difference allowed during probability calculation

Definition at line 37 of file stomp.cpp.



stomp_core
Author(s): Jorge Nicho
autogenerated on Sat Jun 8 2019 19:23:57