Program Listing for File stomp_moveit_task.hpp

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#pragma once

#include <stomp/task.h>

namespace stomp_moveit
{
// @brief A function that computes randomized noisy values for input trajectory values.
using NoiseGeneratorFn =
    std::function<bool(const Eigen::MatrixXd& values, Eigen::MatrixXd& noisy_values, Eigen::MatrixXd& noise)>;
// @brief A function that computes cost values and a validity result for input trajectory values
using CostFn = std::function<bool(const Eigen::MatrixXd& values, Eigen::VectorXd& costs, bool& validity)>;
// @brief A function that applies a filter (smoothing, clamping, ...) of an input trajectory
using FilterFn = std::function<bool(const Eigen::MatrixXd& values, Eigen::MatrixXd& filtered_values)>;
// @brief A function that is called with every iteration to report on the current trajectory candidate and cost
using PostIterationFn = std::function<void(int iteration_number, double cost, const Eigen::MatrixXd& values)>;
// @brief A function that is called when STOMP terminates, providing success flag, cost and solution trajectory
using DoneFn =
    std::function<void(bool success, int total_iterations, double final_cost, const Eigen::MatrixXd& values)>;

// @brief A STOMP task that allows injecting generic callbacks for a STOMP planning instance
//
// The ComposableTask stores custom functions for the most important callback types in STOMP and applies them during
// a motion planning run. This class is used for injecting MoveIt concepts and other custom features into STOMP.
class ComposableTask final : public stomp::Task
{
public:
  ComposableTask(NoiseGeneratorFn noise_generator_fn, CostFn cost_fn, FilterFn filter_fn,
                 PostIterationFn post_iteration_fn, DoneFn done_fn)
    : noise_generator_fn_(std::move(noise_generator_fn))
    , cost_fn_(std::move(cost_fn))
    , filter_fn_(std::move(filter_fn))
    , post_iteration_fn_(std::move(post_iteration_fn))
    , done_fn_(std::move(done_fn))
  {
  }

  ~ComposableTask() = default;

  bool generateNoisyParameters(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
  {
    return noise_generator_fn_(parameters, parameters_noise, noise);
  }

  bool computeCosts(const Eigen::MatrixXd& parameters, std::size_t /*start_timestep*/, std::size_t /*num_timesteps*/,
                    int /*iteration_number*/, Eigen::VectorXd& costs, bool& validity) override
  {
    return cost_fn_(parameters, costs, validity);
  }

  bool computeNoisyCosts(const Eigen::MatrixXd& parameters, std::size_t /*start_timestep*/,
                         std::size_t /*num_timesteps*/, int /*iteration_number*/, int /*rollout_number*/,
                         Eigen::VectorXd& costs, bool& validity) override
  {
    return cost_fn_(parameters, costs, validity);
  }

  bool filterParameterUpdates(std::size_t /*start_timestep*/, std::size_t /*num_timesteps*/, int /*iteration_number*/,
                              const Eigen::MatrixXd& parameters, Eigen::MatrixXd& updates) override
  {
    return filter_fn_(parameters, updates);
  }

  void postIteration(std::size_t /*start_timestep*/, std::size_t /*num_timesteps*/, int iteration_number, double cost,
                     const Eigen::MatrixXd& parameters) override
  {
    post_iteration_fn_(iteration_number, cost, parameters);
  }

  void done(bool success, int total_iterations, double final_cost, const Eigen::MatrixXd& parameters) override
  {
    done_fn_(success, total_iterations, final_cost, parameters);
  }

private:
  NoiseGeneratorFn noise_generator_fn_;
  CostFn cost_fn_;
  FilterFn filter_fn_;
  PostIterationFn post_iteration_fn_;
  DoneFn done_fn_;
};
}  // namespace stomp_moveit