chomp_parameters.h
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34 
35 /* Author: Mrinal Kalakrishnan */
36 
37 #ifndef CHOMP_PARAMETERS_H_
38 #define CHOMP_PARAMETERS_H_
39 
40 #include <ros/ros.h>
41 
42 namespace chomp
43 {
45 {
46 public:
48  virtual ~ChompParameters();
49 
55 
64  void setRecoveryParams(double learning_rate, double ridge_factor, int planning_time_limit, int max_iterations);
65 
66 public:
73  double obstacle_cost_weight_;
75  double learning_rate_;
77 
82  // bool add_randomness_;
83  // bool use_hamiltonian_monte_carlo_;
85 
87  // double hmc_stochasticity_;
88  // double hmc_discretization_;
89  // double hmc_annealing_factor_;
90  double ridge_factor_;
93 
95  double min_clearence_;
98  // double random_jump_amount_;
103 };
105 
106 } // namespace chomp
107 
108 #endif /* CHOMP_PARAMETERS_H_ */
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