chomp_parameters.cpp
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34 
35 /* Author: Mrinal Kalakrishnan */
36 
38 
39 namespace chomp
40 {
42 {
44  max_iterations_ = 50;
48  learning_rate_ = 0.01;
49 
50  // add_randomness_ = false;
54  // hmc_discretization_ = 0.01;
55  // hmc_stochasticity_ = 0.01;
56  // hmc_annealing_factor_ = 0.99;
57  // use_hamiltonian_monte_carlo_ = false;
58  ridge_factor_ = 0.0;
59  use_pseudo_inverse_ = false;
61 
62  joint_update_limit_ = 0.1;
63  min_clearence_ = 0.2;
64  collision_threshold_ = 0.07;
65  // random_jump_amount_ = 1.0;
67  filter_mode_ = false;
68  trajectory_initialization_method_ = std::string("quintic-spline");
71 }
72 
74 {
75 }
76 
78 {
79  ChompParameters non_const;
80  non_const = params;
81  return non_const;
82 }
83 void ChompParameters::setRecoveryParams(double learning_rate, double ridge_factor, int planning_time_limit,
84  int max_iterations)
85 {
86  this->learning_rate_ = learning_rate;
87  this->ridge_factor_ = ridge_factor;
88  this->planning_time_limit_ = planning_time_limit;
89  this->max_iterations_ = max_iterations;
90 }
91 } // namespace chomp
bool use_pseudo_inverse_
the noise added to the diagnal of the total quadratic cost matrix in the objective function ...
std::string trajectory_initialization_method_
ChompParameters getNonConstParams(ChompParameters params)
double collision_threshold_
the minimum distance that needs to be maintained to avoid obstacles
double pseudo_inverse_ridge_factor_
enable pseudo inverse calculations or not.
double min_clearence_
set the update limit for the robot joints
double smoothness_cost_acceleration_
variables associated with the cost in velocity
double joint_update_limit_
set the ridge factor if pseudo inverse is enabled
void setRecoveryParams(double learning_rate, double ridge_factor, int planning_time_limit, int max_iterations)
double smoothness_cost_jerk_
variables associated with the cost in acceleration
bool filter_mode_
the collision threshold cost that needs to be mainted to avoid collisions
int max_iterations_
maximum time the optimizer can take to find a solution before terminating
bool use_stochastic_descent_
variables associated with the cost in jerk
bool enable_failure_recovery_
trajectory initialization method to be specified


chomp_motion_planner
Author(s): Gil Jones , Mrinal Kalakrishnan
autogenerated on Wed Jul 10 2019 04:03:20