stomp_moveit::noisy_filters::StompNoisyFilter Class Reference

Interface class for filtering noisy trajectories. More...

#include <stomp_noisy_filter.h>

Inheritance diagram for stomp_moveit::noisy_filters::StompNoisyFilter:

List of all members.

Public Member Functions
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 at the end of the optimization process.
virtual bool	filter (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::MatrixXd &parameters, bool &filtered)=0
	Applies a filtering method to the parameters which may modify the original values.
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)=0
	Initializes and configures.
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.
	StompNoisyFilter ()
virtual	~StompNoisyFilter ()

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Detailed Description

Interface class for filtering noisy trajectories.

Examples:

All examples are located here stomp_core examples

Definition at line 54 of file stomp_noisy_filter.h.

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Constructor & Destructor Documentation

stomp_moveit::noisy_filters::StompNoisyFilter::StompNoisyFilter

(

)

[inline]

Definition at line 57 of file stomp_noisy_filter.h.

virtual stomp_moveit::noisy_filters::StompNoisyFilter::~StompNoisyFilter

(

)

[inline, virtual]

Definition at line 58 of file stomp_noisy_filter.h.

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Member Function Documentation

virtual bool stomp_moveit::noisy_filters::StompNoisyFilter::configure

(

const XmlRpc::XmlRpcValue &

config

)

[pure virtual]

Sets internal members of the plugin from the configuration data.

Parameters:

config

The configuration data. Usually loaded from the ros parameter server

Returns:

true if succeeded, false otherwise.

Implemented in stomp_moveit::noisy_filters::MultiTrajectoryVisualization, and stomp_moveit::noisy_filters::JointLimits.

virtual void stomp_moveit::noisy_filters::StompNoisyFilter::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]

Definition at line 127 of file stomp_noisy_filter.h.

virtual bool stomp_moveit::noisy_filters::StompNoisyFilter::filter	(	std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		int	rollout_number,
		Eigen::MatrixXd &	parameters,
		bool &	filtered
	)		[pure virtual]

Applies a filtering method to the parameters which may modify the original values.

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 whose cost is being evaluated.
parameters	Output argument containing the parameters to be filtered [num_dimensions x num_timesteps].
filtered	Output argument that's set to 'true' if the parameters were changed according to the filtering method.

Returns:

false if there was an irrecoverable failure, true otherwise.

Implemented in stomp_moveit::noisy_filters::JointLimits, and stomp_moveit::noisy_filters::MultiTrajectoryVisualization.

virtual std::string stomp_moveit::noisy_filters::StompNoisyFilter::getGroupName

(

)

const [inline, virtual]

Reimplemented in stomp_moveit::noisy_filters::MultiTrajectoryVisualization, and stomp_moveit::noisy_filters::JointLimits.

Definition at line 136 of file stomp_noisy_filter.h.

virtual std::string stomp_moveit::noisy_filters::StompNoisyFilter::getName

(

)

const [inline, virtual]

Reimplemented in stomp_moveit::noisy_filters::MultiTrajectoryVisualization, and stomp_moveit::noisy_filters::JointLimits.

Definition at line 130 of file stomp_noisy_filter.h.

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

Initializes and configures.

Parameters:

robot_model_ptr	A pointer to the robot model.
group_name	The designated planning group.
config	The configuration data. Usually loaded from the ros parameter server

Returns:

true if succeeded, false otherwise.

Implemented in stomp_moveit::noisy_filters::MultiTrajectoryVisualization, and stomp_moveit::noisy_filters::JointLimits.

virtual void stomp_moveit::noisy_filters::StompNoisyFilter::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_timestep	The start index into the 'parameters' array, usually 0.
num_timesteps	The number of elements to use from 'parameters' starting from 'start_timestep'
iteration_number	The current iteration count in the optimization loop
cost	The cost value for the current parameters.
parameters	The value of the parameters at the end of the current iteration [num_dimensions x num_timesteps].

Definition at line 116 of file stomp_noisy_filter.h.

virtual bool stomp_moveit::noisy_filters::StompNoisyFilter::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.

Parameters:

planning_scene	A smart pointer to the planning scene
req	The motion planning request
config	The Stomp configuration.
error_code	Moveit error code.

Returns:

true if succeeded, false otherwise.

Implemented in stomp_moveit::noisy_filters::MultiTrajectoryVisualization, and stomp_moveit::noisy_filters::JointLimits.

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

• stomp_noisy_filter.h