Uses a normal distribution to apply noise onto the trajectory. More...

Inheritance diagram for stomp_moveit::noise_generators::NormalDistributionSampling:

Public Member Functions
virtual bool	configure (const XmlRpc::XmlRpcValue &config) override
	see base class for documentation
virtual void	done (bool success, int total_iterations, double final_cost, const Eigen::MatrixXd &parameters)
	Called by the Stomp at the end of the optimization process.
virtual bool	generateNoise (const Eigen::MatrixXd &parameters, std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::MatrixXd &parameters_noise, Eigen::MatrixXd &noise) override
	Generates a noisy trajectory from the parameters.
virtual std::string	getGroupName () const
virtual std::string	getName () const
virtual bool	initialize (moveit::core::RobotModelConstPtr robot_model_ptr, const std::string &group_name, const XmlRpc::XmlRpcValue &config) override
	see base class for documentation
	NormalDistributionSampling ()
virtual bool	setMotionPlanRequest (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::MotionPlanRequest &req, const stomp_core::StompConfiguration &config, moveit_msgs::MoveItErrorCodes &error_code) override
	see base class for documentation
virtual	~NormalDistributionSampling ()
Protected Attributes
std::string	group_
std::string	name_
std::vector < utils::MultivariateGaussianPtr >	rand_generators_
Eigen::VectorXd	raw_noise_
std::vector< double >	stddev_

Detailed Description

Uses a normal distribution to apply noise onto the trajectory.

Constructor & Destructor Documentation

stomp_moveit::noise_generators::NormalDistributionSampling::NormalDistributionSampling ( )

stomp_moveit::noise_generators::NormalDistributionSampling::~NormalDistributionSampling ( ) [virtual]

bool stomp_moveit::noise_generators::NormalDistributionSampling::configure ( const XmlRpc::XmlRpcValue & config ) [override, virtual]

see base class for documentation

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

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

Parameters:

success	Whether the optimization succeeded
total_iterations	Number of iterations used
final_cost	The cost value after optimizing.
parameters	The parameters generated at the end of current iteration [num_dimensions x num_timesteps]

bool stomp_moveit::noise_generators::NormalDistributionSampling::generateNoise	(	const Eigen::MatrixXd &	parameters,
		std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		int	rollout_number,
		Eigen::MatrixXd &	parameters_noise,
		Eigen::MatrixXd &	noise
	)		`[override, virtual]`

Generates a noisy trajectory from the parameters.

Parameters:

parameters	The current value of the optimized parameters to add noise to [num_dimensions x num_parameters]
start_timestep	start index into the 'parameters' array, usually 0.
num_timesteps	number of elements to use from 'parameters' starting from 'start_timestep'
iteration_number	The current iteration count in the optimization loop
rollout_number	index of the noisy trajectory.
parameters_noise	the parameters + noise
noise	the noise applied to the parameters

virtual std::string stomp_moveit::noise_generators::NormalDistributionSampling::getGroupName ( ) const [inline, virtual]

virtual std::string stomp_moveit::noise_generators::NormalDistributionSampling::getName ( ) const [inline, virtual]

bool stomp_moveit::noise_generators::NormalDistributionSampling::initialize	(	moveit::core::RobotModelConstPtr	robot_model_ptr,
		const std::string &	group_name,
		const XmlRpc::XmlRpcValue &	config
	)		`[override, virtual]`

see base class for documentation

bool stomp_moveit::noise_generators::NormalDistributionSampling::setMotionPlanRequest	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::MotionPlanRequest &	req,
		const stomp_core::StompConfiguration &	config,
		moveit_msgs::MoveItErrorCodes &	error_code
	)		`[override, virtual]`