Saves the update values into a file for post analysis. The file is compatible with the python numpy library and can be loaded into a numpy array by running. 'numpy.loadtxt(file_name)'. More...

#include <update_logger.h>

Inheritance diagram for stomp_moveit::update_filters::UpdateLogger:

[legend]

List of all members.

Public Member Functions
virtual bool	configure (const XmlRpc::XmlRpcValue &config)
	see base class for documentation
virtual void	done (bool success, int total_iterations, double final_cost, const Eigen::MatrixXd &parameters) override
	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) override
	Store the updates values into a file that can be loaded into a numpy array.
virtual std::string	getGroupName () const override
virtual std::string	getName () const override
virtual bool	initialize (moveit::core::RobotModelConstPtr robot_model_ptr, const std::string &group_name, const XmlRpc::XmlRpcValue &config)
	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)
	see base class for documentation
	UpdateLogger ()
virtual	~UpdateLogger ()
Protected Attributes
std::string	directory_
std::ofstream	file_stream_
std::string	filename_
Eigen::IOFormat	format_
std::string	full_file_name_
std::string	group_name_
std::string	name_
std::string	package_
stomp_core::StompConfiguration	stomp_config_
std::stringstream	stream_

Detailed Description

Saves the update values into a file for post analysis. The file is compatible with the python numpy library and can be loaded into a numpy array by running. 'numpy.loadtxt(file_name)'.

Examples:: All examples are located here stomp_core examples

Definition at line 47 of file update_logger.h.

Constructor & Destructor Documentation

stomp_moveit::update_filters::UpdateLogger::UpdateLogger ( )

Definition at line 41 of file update_logger.cpp.

stomp_moveit::update_filters::UpdateLogger::~UpdateLogger ( ) [virtual]

Definition at line 47 of file update_logger.cpp.

Member Function Documentation

bool stomp_moveit::update_filters::UpdateLogger::configure ( const XmlRpc::XmlRpcValue & config ) [virtual]

see base class for documentation

Implements stomp_moveit::update_filters::StompUpdateFilter.

Definition at line 60 of file update_logger.cpp.

void stomp_moveit::update_filters::UpdateLogger::done	(	bool	success,
		int	total_iterations,
		double	final_cost,
		const Eigen::MatrixXd &	parameters
	)		`[override, 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 from stomp_moveit::update_filters::StompUpdateFilter.

Definition at line 137 of file update_logger.cpp.

bool stomp_moveit::update_filters::UpdateLogger::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]`

Store the updates values into a file that can be loaded into a numpy array.

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	The updates to be applied to the parameters [num_dimensions x num_timesteps]
filtered	Always false as this filter never changes the updates values.

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

Implements stomp_moveit::update_filters::StompUpdateFilter.

Definition at line 126 of file update_logger.cpp.

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

Reimplemented from stomp_moveit::update_filters::StompUpdateFilter.

Definition at line 84 of file update_logger.h.

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

Reimplemented from stomp_moveit::update_filters::StompUpdateFilter.

Definition at line 89 of file update_logger.h.

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

see base class for documentation

Implements stomp_moveit::update_filters::StompUpdateFilter.

Definition at line 52 of file update_logger.cpp.

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

see base class for documentation

Implements stomp_moveit::update_filters::StompUpdateFilter.

Definition at line 89 of file update_logger.cpp.

Member Data Documentation

std::string stomp_moveit::update_filters::UpdateLogger::directory_ [protected]

Definition at line 104 of file update_logger.h.

std::ofstream stomp_moveit::update_filters::UpdateLogger::file_stream_ [protected]

Definition at line 112 of file update_logger.h.

std::string stomp_moveit::update_filters::UpdateLogger::filename_ [protected]

Definition at line 102 of file update_logger.h.

Eigen::IOFormat stomp_moveit::update_filters::UpdateLogger::format_ [protected]

Definition at line 113 of file update_logger.h.

std::string stomp_moveit::update_filters::UpdateLogger::full_file_name_ [protected]

Definition at line 111 of file update_logger.h.

std::string stomp_moveit::update_filters::UpdateLogger::group_name_ [protected]

Definition at line 99 of file update_logger.h.

std::string stomp_moveit::update_filters::UpdateLogger::name_ [protected]

Definition at line 98 of file update_logger.h.

std::string stomp_moveit::update_filters::UpdateLogger::package_ [protected]

Definition at line 103 of file update_logger.h.

stomp_core::StompConfiguration stomp_moveit::update_filters::UpdateLogger::stomp_config_ [protected]

Definition at line 107 of file update_logger.h.

std::stringstream stomp_moveit::update_filters::UpdateLogger::stream_ [protected]

Definition at line 110 of file update_logger.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation