hebi::robot_model::CustomObjective< N > Class Template Reference

Allows you to add a custom objective function. More...

#include <robot_model.hpp>

Inheritance diagram for hebi::robot_model::CustomObjective< N >:

Public Types
using	ObjectiveCallback = std::function< void(const std::vector< double > &, std::array< double, N > &)>

Public Member Functions
void	callCallback (void *, size_t num_positions, const double *positions, double *errors) const
	CustomObjective (ObjectiveCallback error_function)
	CustomObjective (double weight, ObjectiveCallback error_function)
Public Member Functions inherited from hebi::robot_model::Objective
virtual	~Objective ()

Private Member Functions
HebiStatusCode	addObjective (HebiIKPtr ik) const override

Private Attributes
ObjectiveCallback	_callback
double	_weight

Additional Inherited Members

Detailed Description

template<size_t N>
class hebi::robot_model::CustomObjective< N >

Allows you to add a custom objective function.

To use, you must implement and pass in a std::function object that takes a vector of positions and an array of error values that you should fill in:

std::function<void(const std::vector<double>&, std::array<double, N>&)>;

This function is called at each step of the optimization.

Note that the template parameter N is the number of independent errors that your objective function sets.

Example usage, using a lambda function for the callback. Note that this toy example optimizes for joint angles that sum to 2:

Eigen::VectorXd initial_joint_angles(group->size());
Eigen::VectorXd ik_result_joint_angles(group->size());

model->solveIK(
  initial_joint_angles,
  ik_result_joint_angles,
  robot_model::CustomObjective<1>(
    [](const std::vector<double> positions, std::array<double, 1>& errors)
    {
      // Add up all the joint angles
      double sum = 0;
      for (auto p : positions)
        sum += p;
      // This objective prefers joint angles that sum to '2'
      errors[0] = 2 - sum;
    }
  )
);

Definition at line 135 of file robot_model.hpp.

Member Typedef Documentation

template<size_t N>

using hebi::robot_model::CustomObjective< N >::ObjectiveCallback = std::function<void(const std::vector<double>&, std::array<double, N>&)>

Definition at line 140 of file robot_model.hpp.

Constructor & Destructor Documentation

template<size_t N>

hebi::robot_model::CustomObjective< N >::CustomObjective ( ObjectiveCallback  error_function )

inline

Definition at line 142 of file robot_model.hpp.

template<size_t N>

hebi::robot_model::CustomObjective< N >::CustomObjective ( double  weight, ObjectiveCallback  error_function  )

inline

Definition at line 143 of file robot_model.hpp.

Member Function Documentation

template<size_t N>

HebiStatusCode hebi::robot_model::CustomObjective< N >::addObjective ( HebiIKPtr  ik ) const

inlineoverrideprivatevirtual

Implements hebi::robot_model::Objective.

Definition at line 171 of file robot_model.hpp.

template<size_t N>

void hebi::robot_model::CustomObjective< N >::callCallback ( void *  , size_t  num_positions, const double *  positions, double *  errors  ) const

inline

Definition at line 147 of file robot_model.hpp.

Member Data Documentation

template<size_t N>

ObjectiveCallback hebi::robot_model::CustomObjective< N >::_callback

private

Definition at line 176 of file robot_model.hpp.

template<size_t N>

double hebi::robot_model::CustomObjective< N >::_weight

private

Definition at line 175 of file robot_model.hpp.

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

• robot_model.hpp