A dummy task for testing STOMP. More...

Inheritance diagram for DummyTask:

Public Member Functions
bool	computeCosts (const Trajectory &parameters, std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, Eigen::VectorXd &costs, bool &validity) override
	computes the state costs as a function of the optimized parameters for each time step. More...

bool	computeNoisyCosts (const Trajectory &parameters, std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::VectorXd &costs, bool &validity) override
	computes the state costs as a function of the noisy parameters for each time step. More...

	DummyTask (const Trajectory &parameters_bias, const std::vector< double > &bias_thresholds, const std::vector< double > &std_dev)
	A dummy task for testing Stomp. More...

bool	filterParameterUpdates (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, const Eigen::MatrixXd &parameters, Eigen::MatrixXd &updates) override
	Filters the given parameters which is applied after the update. It could be used for clipping of joint limits or projecting into the null space of the Jacobian. More...

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
	See base clase for documentation.

Public Member Functions inherited from stomp_core::Task
virtual void	done (bool success, int total_iterations, double final_cost, const Eigen::MatrixXd &parameters)
	Called by Stomp at the end of the optimization process. More...

virtual bool	filterNoisyParameters (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::MatrixXd &parameters, bool &filtered)
	Filters the given noisy parameters which is applied after noisy trajectory generation. It could be used for clipping of joint limits or projecting into the null space of the Jacobian. More...

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. More...

Protected Member Functions
bool	smoothParameterUpdates (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, Eigen::MatrixXd &updates)
	Perform a smooth update given a noisy update. More...

Protected Attributes
std::vector< double >	bias_thresholds_

Trajectory	parameters_bias_

Eigen::MatrixXd	smoothing_M_

std::vector< double >	std_dev_

Detailed Description

A dummy task for testing STOMP.

Definition at line 46 of file stomp_3dof.cpp.

Constructor & Destructor Documentation

DummyTask::DummyTask	(	const Trajectory &	parameters_bias,
		const std::vector< double > &	bias_thresholds,
		const std::vector< double > &	std_dev
	)

inline

A dummy task for testing Stomp.

Parameters

parameters_bias	default parameter bias used for computing cost for the test
bias_thresholds	threshold to determine whether two trajectories are equal
std_dev	standard deviation used for generating noisy parameters

Definition at line 55 of file stomp_3dof.cpp.

Member Function Documentation

bool DummyTask::computeCosts	(	const Trajectory &	parameters,
		std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		Eigen::VectorXd &	costs,
		bool &	validity
	)

inlineoverridevirtual

computes the state costs as a function of the optimized parameters for each time step.

Parameters

parameters	A matrix [num_dimensions][num_parameters] of the policy parameters to execute
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
costs	A vector containing the state costs per timestep.
validity	Whether or not the trajectory is valid

Returns: True if cost were properly computed, otherwise false

Implements stomp_core::Task.

Definition at line 95 of file stomp_3dof.cpp.

bool DummyTask::computeNoisyCosts	(	const Trajectory &	parameters,
		std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		int	rollout_number,
		Eigen::VectorXd &	costs,
		bool &	validity
	)

inlineoverridevirtual

computes the state costs as a function of the noisy parameters for each time step.

Parameters

parameters	A matrix [num_dimensions][num_parameters] of the policy parameters to execute
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
rollout_number	The index of the noisy trajectory whose cost is being evaluated.
costs	vector A vector containing the state costs per timestep.
validity	Whether or not the trajectory is valid

Returns: True if cost were properly computed, otherwise false

Implements stomp_core::Task.

Definition at line 105 of file stomp_3dof.cpp.

bool DummyTask::filterParameterUpdates	(	std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		const Eigen::MatrixXd &	parameters,
		Eigen::MatrixXd &	updates
	)

inlineoverridevirtual

Filters the given parameters which is applied after the update. It could be used for clipping of joint limits or projecting into the null space of the Jacobian.

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
parameters	The optimized parameters
updates	The updates to the parameters

Returns: True if successful, otherwise false

Reimplemented from stomp_core::Task.

Definition at line 139 of file stomp_3dof.cpp.

bool DummyTask::smoothParameterUpdates	(	std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		Eigen::MatrixXd &	updates
	)

inlineprotected

Perform a smooth update given a noisy update.

Parameters

start_timestep	starting timestep
num_timesteps	number of timesteps
iteration_number	number of interations allowed
updates	returned smooth update

Returns: True if successful, otherwise false

Definition at line 159 of file stomp_3dof.cpp.

Member Data Documentation

std::vector<double> DummyTask::bias_thresholds_

protected

Threshold to determine whether two trajectories are equal

Definition at line 176 of file stomp_3dof.cpp.

Trajectory DummyTask::parameters_bias_

protected

Parameter bias used for computing cost for the test

Definition at line 175 of file stomp_3dof.cpp.

Eigen::MatrixXd DummyTask::smoothing_M_

protected

Matrix used for smoothing the trajectory

Definition at line 178 of file stomp_3dof.cpp.

std::vector<double> DummyTask::std_dev_

protected

Standard deviation used for generating noisy parameters

Definition at line 177 of file stomp_3dof.cpp.

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

stomp_3dof.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation