#include <control_cost_projection.h>
Public Member Functions | |
virtual bool | configure (const XmlRpc::XmlRpcValue &config) override |
see base class for documentation | |
ControlCostProjection () | |
virtual bool | filter (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, const Eigen::MatrixXd ¶meters, Eigen::MatrixXd &updates, bool &filtered) override |
smoothes the updates array. Uses the Control Cost Matrix projection. | |
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 | |
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 | ~ControlCostProjection () |
Protected Attributes | |
std::string | group_name_ |
std::string | name_ |
int | num_timesteps_ |
Eigen::MatrixXd | projection_matrix_M_ |
moveit::core::RobotModelConstPtr | robot_model_ |
Definition at line 48 of file control_cost_projection.h.
stomp_moveit::update_filters::ControlCostProjection::ControlCostProjection | ( | ) |
Definition at line 44 of file control_cost_projection.cpp.
stomp_moveit::update_filters::ControlCostProjection::~ControlCostProjection | ( | ) | [virtual] |
Definition at line 52 of file control_cost_projection.cpp.
bool stomp_moveit::update_filters::ControlCostProjection::configure | ( | const XmlRpc::XmlRpcValue & | config | ) | [override, virtual] |
see base class for documentation
Implements stomp_moveit::update_filters::StompUpdateFilter.
Definition at line 71 of file control_cost_projection.cpp.
bool stomp_moveit::update_filters::ControlCostProjection::filter | ( | std::size_t | start_timestep, |
std::size_t | num_timesteps, | ||
int | iteration_number, | ||
const Eigen::MatrixXd & | parameters, | ||
Eigen::MatrixXd & | updates, | ||
bool & | filtered | ||
) | [override, virtual] |
smoothes the updates array. Uses the Control Cost Matrix projection.
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 |
parameters | The parameters generated in the previous iteration [num_dimensions x num_timesteps] |
updates | Output argument which contains the updates to be applied to the parameters [num_dimensions x num_timesteps] |
filtered | Output argument which is set to 'true' if the updates were modified. |
Implements stomp_moveit::update_filters::StompUpdateFilter.
Definition at line 95 of file control_cost_projection.cpp.
virtual std::string stomp_moveit::update_filters::ControlCostProjection::getGroupName | ( | ) | const [inline, virtual] |
Reimplemented from stomp_moveit::update_filters::StompUpdateFilter.
Definition at line 85 of file control_cost_projection.h.
virtual std::string stomp_moveit::update_filters::ControlCostProjection::getName | ( | ) | const [inline, virtual] |
Reimplemented from stomp_moveit::update_filters::StompUpdateFilter.
Definition at line 90 of file control_cost_projection.h.
bool stomp_moveit::update_filters::ControlCostProjection::initialize | ( | moveit::core::RobotModelConstPtr | robot_model_ptr, |
const std::string & | group_name, | ||
const XmlRpc::XmlRpcValue & | config | ||
) | [override, virtual] |
see base class for documentation
Implements stomp_moveit::update_filters::StompUpdateFilter.
Definition at line 57 of file control_cost_projection.cpp.
bool stomp_moveit::update_filters::ControlCostProjection::setMotionPlanRequest | ( | const planning_scene::PlanningSceneConstPtr & | planning_scene, |
const moveit_msgs::MotionPlanRequest & | req, | ||
const stomp_core::StompConfiguration & | config, | ||
moveit_msgs::MoveItErrorCodes & | error_code | ||
) | [override, virtual] |
see base class for documentation
Implements stomp_moveit::update_filters::StompUpdateFilter.
Definition at line 76 of file control_cost_projection.cpp.
std::string stomp_moveit::update_filters::ControlCostProjection::group_name_ [protected] |
Definition at line 102 of file control_cost_projection.h.
std::string stomp_moveit::update_filters::ControlCostProjection::name_ [protected] |
Definition at line 98 of file control_cost_projection.h.
int stomp_moveit::update_filters::ControlCostProjection::num_timesteps_ [protected] |
Definition at line 105 of file control_cost_projection.h.
Eigen::MatrixXd stomp_moveit::update_filters::ControlCostProjection::projection_matrix_M_ [protected] |
Definition at line 106 of file control_cost_projection.h.
moveit::core::RobotModelConstPtr stomp_moveit::update_filters::ControlCostProjection::robot_model_ [protected] |
Definition at line 101 of file control_cost_projection.h.