Uses a normal distribution to apply noise onto the trajectory. More...

Inheritance diagram for stomp_moveit::noise_generators::NormalDistributionSampling:

Public Member Functions
virtual bool	configure (const XmlRpc::XmlRpcValue &config) override
	see base class for documentation

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

virtual bool	generateNoise (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
	Generates a noisy trajectory from the parameters. More...

virtual std::string	getGroupName () const

virtual std::string	getName () const

virtual bool	initialize (moveit::core::RobotModelConstPtr robot_model_ptr, const std::string &group_name, const XmlRpc::XmlRpcValue &config) override
	see base class for documentation

virtual bool	setMotionPlanRequest (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::MotionPlanRequest &req, const stomp_core::StompConfiguration &config, moveit_msgs::MoveItErrorCodes &error_code) override
	see base class for documentation

Public Member Functions inherited from stomp_moveit::noise_generators::StompNoiseGenerator
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 Attributes
std::string	group_

std::string	name_

std::vector< utils::MultivariateGaussianPtr >	rand_generators_

Eigen::VectorXd	raw_noise_

std::vector< double >	stddev_

Detailed Description

Uses a normal distribution to apply noise onto the trajectory.

Member Function Documentation

virtual void stomp_moveit::noise_generators::NormalDistributionSampling::done	(	bool	success,
		int	total_iterations,
		double	final_cost,
		const Eigen::MatrixXd &	parameters
	)

inlinevirtual

Called by the Stomp at the end of the optimization process.

Parameters

success	Whether the optimization succeeded
total_iterations	Number of iterations used
final_cost	The cost value after optimizing.
parameters	The parameters generated at the end of current iteration [num_dimensions x num_timesteps]

bool stomp_moveit::noise_generators::NormalDistributionSampling::generateNoise	(	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
	)

overridevirtual

Generates a noisy trajectory from the parameters.

Parameters

parameters	The current value of the optimized parameters to add noise to [num_dimensions x num_parameters]
start_timestep	start index into the 'parameters' array, usually 0.
num_timesteps	number of elements to use from 'parameters' starting from 'start_timestep'
iteration_number	The current iteration count in the optimization loop
rollout_number	index of the noisy trajectory.
parameters_noise	the parameters + noise
noise	the noise applied to the parameters

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