Interface class which applies filtering methods to the update parameters before it is added onto the optimized trajectory. More...

#include <stomp_update_filter.h>

Inheritance diagram for stomp_moveit::update_filters::StompUpdateFilter:

[legend]

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, const Eigen::MatrixXd &parameters, Eigen::MatrixXd &updates, bool &filtered)=0
	Filters the parameter updates and may change its 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.
	StompUpdateFilter ()
virtual	~StompUpdateFilter ()

Detailed Description

Interface class which applies filtering methods to the update parameters before it is added onto the optimized trajectory.

Examples:: All examples are located here stomp_core examples

Definition at line 55 of file stomp_update_filter.h.

Constructor & Destructor Documentation

stomp_moveit::update_filters::StompUpdateFilter::StompUpdateFilter ( ) [inline]

Definition at line 58 of file stomp_update_filter.h.

virtual stomp_moveit::update_filters::StompUpdateFilter::~StompUpdateFilter ( ) [inline, virtual]

Definition at line 59 of file stomp_update_filter.h.

Member Function Documentation

virtual bool stomp_moveit::update_filters::StompUpdateFilter::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::update_filters::PolynomialSmoother, stomp_moveit::update_filters::TrajectoryVisualization, stomp_moveit::update_filters::ControlCostProjection, and stomp_moveit::update_filters::UpdateLogger.

virtual void stomp_moveit::update_filters::StompUpdateFilter::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]

Reimplemented in stomp_moveit::update_filters::TrajectoryVisualization, and stomp_moveit::update_filters::UpdateLogger.

Definition at line 128 of file stomp_update_filter.h.

virtual bool stomp_moveit::update_filters::StompUpdateFilter::filter	(	std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		const Eigen::MatrixXd &	parameters,
		Eigen::MatrixXd &	updates,
		bool &	filtered
	)		`[pure virtual]`

Filters the parameter updates and may change its 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
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.

Returns:: false if there was an irrecoverable failure, true otherwise.

Implemented in stomp_moveit::update_filters::PolynomialSmoother, stomp_moveit::update_filters::TrajectoryVisualization, stomp_moveit::update_filters::ControlCostProjection, and stomp_moveit::update_filters::UpdateLogger.

virtual std::string stomp_moveit::update_filters::StompUpdateFilter::getGroupName ( ) const [inline, virtual]

Reimplemented in stomp_moveit::update_filters::TrajectoryVisualization, stomp_moveit::update_filters::PolynomialSmoother, stomp_moveit::update_filters::ControlCostProjection, and stomp_moveit::update_filters::UpdateLogger.

Definition at line 137 of file stomp_update_filter.h.

virtual std::string stomp_moveit::update_filters::StompUpdateFilter::getName ( ) const [inline, virtual]

Reimplemented in stomp_moveit::update_filters::PolynomialSmoother, stomp_moveit::update_filters::TrajectoryVisualization, stomp_moveit::update_filters::ControlCostProjection, and stomp_moveit::update_filters::UpdateLogger.

Definition at line 131 of file stomp_update_filter.h.

virtual bool stomp_moveit::update_filters::StompUpdateFilter::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::update_filters::PolynomialSmoother, stomp_moveit::update_filters::TrajectoryVisualization, stomp_moveit::update_filters::ControlCostProjection, and stomp_moveit::update_filters::UpdateLogger.

virtual void stomp_moveit::update_filters::StompUpdateFilter::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 117 of file stomp_update_filter.h.

virtual bool stomp_moveit::update_filters::StompUpdateFilter::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::update_filters::PolynomialSmoother, stomp_moveit::update_filters::TrajectoryVisualization, stomp_moveit::update_filters::ControlCostProjection, and stomp_moveit::update_filters::UpdateLogger.

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

stomp_update_filter.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation