stomp_core::Rollout Struct Reference

The data structure used to store information about a single rollout. More...

`#include <utils.h>`

## Public Attributes | |

Eigen::MatrixXd | control_costs |

A matrix [num_dimensions][num_time_steps] of the control cost for each parameter at every timestep. | |

std::vector< double > | full_costs |

A vector [num_dimensions] of the full coss, state_cost + control_cost for each joint over the entire trajectory full_costs_[d] = state_cost.sum() + control_cost[d].sum() | |

std::vector< double > | full_probabilities |

A vector [num_dimensions] of the probabilities for the full trajectory. | |

double | importance_weight |

importance sampling weight | |

Eigen::MatrixXd | noise |

A matrix [num_dimensions][num_time_steps] of random noise applied to the parameters. | |

Eigen::MatrixXd | parameters_noise |

A matrix [num_dimensions][num_time_steps] of the sum of parameters + noise. | |

Eigen::MatrixXd | probabilities |

A matrix [num_dimensions][num_time_steps] of the probability for each parameter at every timestep. | |

Eigen::VectorXd | state_costs |

A vector [num_time_steps] of the cost at each timestep. | |

double | total_cost |

combined state + control cost over the entire trajectory for all joints | |

Eigen::MatrixXd | total_costs |

A matrix [num_dimensions][num_time_steps] of the total cost, where total_cost[d] = state_costs_ + control_costs_[d]. | |

The data structure used to store information about a single rollout.

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