.. _program_listing_file__tmp_ws_src_stomp_include_stomp_task.h:

Program Listing for File task.h
===============================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_stomp_include_stomp_task.h>` (``/tmp/ws/src/stomp/include/stomp/task.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   
   #ifndef STOMP_TASK_H_
   #define STOMP_TASK_H_
   
   #include <Eigen/Core>
   #include <memory>
   #include <stomp/utils.h>
   
   namespace stomp
   {
   class Task;
   typedef std::shared_ptr<Task> TaskPtr; 
   class Task
   {
   public:
     Task() {}
   
     virtual 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) = 0;
   
     virtual 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) = 0;
   
     virtual bool computeCosts(const Eigen::MatrixXd& parameters,
                               std::size_t start_timestep,
                               std::size_t num_timesteps,
                               int iteration_number,
                               Eigen::VectorXd& costs,
                               bool& validity) = 0;
   
     virtual bool filterNoisyParameters(std::size_t start_timestep,
                                        std::size_t num_timesteps,
                                        int iteration_number,
                                        int rollout_number,
                                        Eigen::MatrixXd& parameters,
                                        bool& filtered)
     {
       filtered = false;
       return true;
     }
   
     virtual bool filterParameterUpdates(std::size_t start_timestep,
                                         std::size_t num_timesteps,
                                         int iteration_number,
                                         const Eigen::MatrixXd& parameters,
                                         Eigen::MatrixXd& updates)
     {
       return true;
     }
   
     virtual void postIteration(std::size_t start_timestep,
                                std::size_t num_timesteps,
                                int iteration_number,
                                double cost,
                                const Eigen::MatrixXd& parameters)
     {
     }
   
     virtual void done(bool success, int total_iterations, double final_cost, const Eigen::MatrixXd& parameters) {}
   };
   
   }  // namespace stomp
   #endif /* TASK_H_ */