Interface class for filtering noisy trajectories.
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#include <stomp_noisy_filter.h>
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virtual bool | configure (const XmlRpc::XmlRpcValue &config)=0 |
| Sets internal members of the plugin from the configuration data. More...
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virtual void | done (bool success, int total_iterations, double final_cost, const Eigen::MatrixXd ¶meters) |
| Called by the Stomp at the end of the optimization process. More...
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virtual bool | filter (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::MatrixXd ¶meters, bool &filtered)=0 |
| Applies a filtering method to the parameters which may modify the original values. More...
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virtual std::string | getGroupName () const |
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virtual std::string | getName () const |
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virtual bool | initialize (moveit::core::RobotModelConstPtr robot_model_ptr, const std::string &group_name, const XmlRpc::XmlRpcValue &config)=0 |
| Initializes and configures. More...
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virtual void | postIteration (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, double cost, const Eigen::MatrixXd ¶meters) |
| Called by STOMP at the end of each iteration. More...
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virtual bool | setMotionPlanRequest (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::MotionPlanRequest &req, const stomp_core::StompConfiguration &config, moveit_msgs::MoveItErrorCodes &error_code)=0 |
| Stores the planning details. More...
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Interface class for filtering noisy trajectories.
- Examples:
- All examples are located here STOMP MoveIt! examples
Definition at line 54 of file stomp_noisy_filter.h.
virtual bool stomp_moveit::noisy_filters::StompNoisyFilter::configure |
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const XmlRpc::XmlRpcValue & |
config | ) |
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pure virtual |
virtual void stomp_moveit::noisy_filters::StompNoisyFilter::done |
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bool |
success, |
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int |
total_iterations, |
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double |
final_cost, |
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const Eigen::MatrixXd & |
parameters |
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inlinevirtual |
Called by the Stomp at the end of the optimization process.
- Parameters
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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] |
Definition at line 127 of file stomp_noisy_filter.h.
virtual bool stomp_moveit::noisy_filters::StompNoisyFilter::filter |
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std::size_t |
start_timestep, |
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std::size_t |
num_timesteps, |
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int |
iteration_number, |
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int |
rollout_number, |
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Eigen::MatrixXd & |
parameters, |
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bool & |
filtered |
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pure virtual |
Applies a filtering method to the parameters which may modify the original values.
- Parameters
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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 whose cost is being evaluated. |
parameters | Output argument containing the parameters to be filtered [num_dimensions x num_timesteps]. |
filtered | Output argument that's set to 'true' if the parameters were changed according to the filtering method. |
- Returns
- false if there was an irrecoverable failure, true otherwise.
Implemented in stomp_moveit::noisy_filters::JointLimits, and stomp_moveit::noisy_filters::MultiTrajectoryVisualization.
virtual bool stomp_moveit::noisy_filters::StompNoisyFilter::initialize |
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moveit::core::RobotModelConstPtr |
robot_model_ptr, |
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const std::string & |
group_name, |
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const XmlRpc::XmlRpcValue & |
config |
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pure virtual |
virtual void stomp_moveit::noisy_filters::StompNoisyFilter::postIteration |
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std::size_t |
start_timestep, |
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std::size_t |
num_timesteps, |
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int |
iteration_number, |
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double |
cost, |
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const Eigen::MatrixXd & |
parameters |
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inlinevirtual |
Called by STOMP at the end of each iteration.
- Parameters
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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 |
cost | The cost value for the current parameters. |
parameters | The value of the parameters at the end of the current iteration [num_dimensions x num_timesteps]. |
Definition at line 116 of file stomp_noisy_filter.h.
The documentation for this class was generated from the following file: