Interface class for filtering noisy trajectories. More...

#include <stomp_noisy_filter.h>

Inheritance diagram for stomp_moveit::noisy_filters::StompNoisyFilter:

Public Member Functions
virtual bool	configure (const XmlRpc::XmlRpcValue &config)=0
	Sets internal members of the plugin from the configuration data. More...

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	filter (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::MatrixXd &parameters, bool &filtered)=0
	Applies a filtering method to the parameters which may modify the original values. 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)=0
	Initializes and configures. 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...

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...

Detailed Description

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.

Member Function Documentation

virtual bool stomp_moveit::noisy_filters::StompNoisyFilter::configure ( const XmlRpc::XmlRpcValue & config )

pure virtual

Sets internal members of the plugin from the configuration data.

Parameters

config The configuration data. Usually loaded from the ros parameter server

Returns: true if succeeded, false otherwise.

Implemented in stomp_moveit::noisy_filters::MultiTrajectoryVisualization, and stomp_moveit::noisy_filters::JointLimits.

virtual void stomp_moveit::noisy_filters::StompNoisyFilter::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]

Definition at line 127 of file stomp_noisy_filter.h.

virtual bool stomp_moveit::noisy_filters::StompNoisyFilter::filter	(	std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		int	rollout_number,
		Eigen::MatrixXd &	parameters,
		bool &	filtered
	)

pure virtual

Applies a filtering method to the parameters which may modify the original values.

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 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	(	moveit::core::RobotModelConstPtr	robot_model_ptr,
		const std::string &	group_name,
		const XmlRpc::XmlRpcValue &	config
	)

pure virtual

Initializes and configures.

Parameters

robot_model_ptr	A pointer to the robot model.
group_name	The designated planning group.
config	The configuration data. Usually loaded from the ros parameter server

Returns: true if succeeded, false otherwise.

Implemented in stomp_moveit::noisy_filters::MultiTrajectoryVisualization, and stomp_moveit::noisy_filters::JointLimits.

virtual void stomp_moveit::noisy_filters::StompNoisyFilter::postIteration	(	std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		double	cost,
		const Eigen::MatrixXd &	parameters
	)

inlinevirtual

Called by STOMP at the end of each iteration.

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
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.

virtual bool stomp_moveit::noisy_filters::StompNoisyFilter::setMotionPlanRequest	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::MotionPlanRequest &	req,
		const stomp_core::StompConfiguration &	config,
		moveit_msgs::MoveItErrorCodes &	error_code
	)

pure virtual

Stores the planning details.

Parameters

planning_scene	A smart pointer to the planning scene
req	The motion planning request
config	The Stomp configuration.
error_code	Moveit error code.

Returns: true if succeeded, false otherwise.

Implemented in stomp_moveit::noisy_filters::MultiTrajectoryVisualization, and stomp_moveit::noisy_filters::JointLimits.

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

stomp_noisy_filter.h

Public Member Functions

Detailed Description

Member Function Documentation