Public Member Functions | Protected Attributes
stomp_moveit::cost_functions::StompCostFunction Class Reference

Assigns a cost value to each robot state by evaluating the minimum distance between the robot and the nearest obstacle. More...

#include <stomp_cost_function.h>

Inheritance diagram for stomp_moveit::cost_functions::StompCostFunction:
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List of all members.

Public Member Functions

virtual bool computeCosts (const Eigen::MatrixXd &parameters, std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::VectorXd &costs, bool &validity)=0
 computes the state costs as a function of the parameters for each time step.
virtual bool configure (const XmlRpc::XmlRpcValue &config)=0
 Sets internal members of the plugin from the configuration data.
virtual void done (bool success, int total_iterations, double final_cost, const Eigen::MatrixXd &parameters)
 Called by the Stomp Task at the end of the optimization process.
virtual std::string getGroupName () const
virtual std::string getName () const
virtual int getOptimizedIndex () const
 The index returned by this method will be passed by the Task to the corresponding plugin method as the 'rollout_number' argument when operating on the noiseless (optimized) parameters.
virtual double getWeight () const
virtual bool initialize (moveit::core::RobotModelConstPtr robot_model_ptr, const std::string &group_name, XmlRpc::XmlRpcValue &config)=0
 Initializes and configures the Cost Function.
virtual void postIteration (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, double cost, const Eigen::MatrixXd &parameters)
 Called by STOMP at the end of each iteration.
virtual bool setMotionPlanRequest (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::MotionPlanRequest &req, const stomp_core::StompConfiguration &config, moveit_msgs::MoveItErrorCodes &error_code)=0
 Stores the planning details which will be used during the costs calculations.
 StompCostFunction ()
virtual ~StompCostFunction ()

Protected Attributes

double cost_weight_

Detailed Description

Assigns a cost value to each robot state by evaluating the minimum distance between the robot and the nearest obstacle.

The interface class for the STOMP cost functions.

Examples:
All examples are located here stomp_core examples

Definition at line 53 of file stomp_cost_function.h.


Constructor & Destructor Documentation

Definition at line 56 of file stomp_cost_function.h.

Definition at line 62 of file stomp_cost_function.h.


Member Function Documentation

virtual bool stomp_moveit::cost_functions::StompCostFunction::computeCosts ( const Eigen::MatrixXd &  parameters,
std::size_t  start_timestep,
std::size_t  num_timesteps,
int  iteration_number,
int  rollout_number,
Eigen::VectorXd &  costs,
bool &  validity 
) [pure virtual]

computes the state costs as a function of the parameters for each time step.

Parameters:
parametersThe parameter values to evaluate for state costs [num_dimensions x num_parameters]
start_timestepstart index into the 'parameters' array, usually 0.
num_timestepsnumber of elements to use from 'parameters' starting from 'start_timestep' *
iteration_numberThe current iteration count in the optimization loop
rollout_numberindex of the noisy trajectory whose cost is being evaluated. *
costsvector containing the state costs per timestep.
validitywhether or not the trajectory is valid
Returns:
false if there was an irrecoverable failure, true otherwise.

Implemented in stomp_moveit::cost_functions::CollisionCheck, and stomp_moveit::cost_functions::ObstacleDistanceGradient.

Sets internal members of the plugin from the configuration data.

Parameters:
configThe configuration data . Usually loaded from the ros parameter server
Returns:
true if succeeded, false otherwise.

Implemented in stomp_moveit::cost_functions::CollisionCheck, and stomp_moveit::cost_functions::ObstacleDistanceGradient.

virtual void stomp_moveit::cost_functions::StompCostFunction::done ( bool  success,
int  total_iterations,
double  final_cost,
const Eigen::MatrixXd &  parameters 
) [inline, virtual]

Called by the Stomp Task at the end of the optimization process.

Parameters:
successWhether the optimization succeeded
total_iterationsNumber of iterations used
final_costThe cost value after optimizing.
parametersThe parameters generated at the end of current iteration [num_dimensions x num_timesteps]

Reimplemented in stomp_moveit::cost_functions::CollisionCheck, and stomp_moveit::cost_functions::ObstacleDistanceGradient.

Definition at line 133 of file stomp_cost_function.h.

virtual std::string stomp_moveit::cost_functions::StompCostFunction::getGroupName ( ) const [inline, virtual]
virtual std::string stomp_moveit::cost_functions::StompCostFunction::getName ( ) const [inline, virtual]

The index returned by this method will be passed by the Task to the corresponding plugin method as the 'rollout_number' argument when operating on the noiseless (optimized) parameters.

Definition at line 156 of file stomp_cost_function.h.

virtual double stomp_moveit::cost_functions::StompCostFunction::getWeight ( ) const [inline, virtual]

Definition at line 141 of file stomp_cost_function.h.

virtual bool stomp_moveit::cost_functions::StompCostFunction::initialize ( moveit::core::RobotModelConstPtr  robot_model_ptr,
const std::string &  group_name,
XmlRpc::XmlRpcValue config 
) [pure virtual]

Initializes and configures the Cost Function.

Parameters:
robot_model_ptrA pointer to the robot model.
group_nameThe designated planning group.
configThe configuration data. Usually loaded from the ros parameter server
Returns:
true if succeeded, false otherwise.

Implemented in stomp_moveit::cost_functions::CollisionCheck, and stomp_moveit::cost_functions::ObstacleDistanceGradient.

virtual void stomp_moveit::cost_functions::StompCostFunction::postIteration ( std::size_t  start_timestep,
std::size_t  num_timesteps,
int  iteration_number,
double  cost,
const Eigen::MatrixXd &  parameters 
) [inline, virtual]

Called by STOMP at the end of each iteration.

Parameters:
start_timestepThe start index into the 'parameters' array, usually 0.
num_timestepsThe number of elements to use from 'parameters' starting from 'start_timestep'
iteration_numberThe current iteration count in the optimization loop
costThe cost value for the current parameters.
parametersThe value of the parameters at the end of the current iteration [num_dimensions x num_timesteps].

Definition at line 122 of file stomp_cost_function.h.

virtual bool stomp_moveit::cost_functions::StompCostFunction::setMotionPlanRequest ( const planning_scene::PlanningSceneConstPtr &  planning_scene,
const moveit_msgs::MotionPlanRequest req,
const stomp_core::StompConfiguration &  config,
moveit_msgs::MoveItErrorCodes &  error_code 
) [pure virtual]

Stores the planning details which will be used during the costs calculations.

Parameters:
planning_sceneA smart pointer to the planning scene
reqThe motion planning request
configThe Stomp configuration.
error_codeMoveit error code.
Returns:
true if succeeded, false otherwise.

Implemented in stomp_moveit::cost_functions::CollisionCheck, and stomp_moveit::cost_functions::ObstacleDistanceGradient.


Member Data Documentation

Definition at line 164 of file stomp_cost_function.h.


The documentation for this class was generated from the following file:


stomp_moveit
Author(s): Jorge Nicho
autogenerated on Sat Jun 8 2019 19:24:01