Inheritance diagram for stomp_motion_planner::StompOptimizer:

Public Member Functions
	StompOptimizer (ChompTrajectory trajectory, const StompParameters parameters, const ChompPlanningGroup planning_group, const CollisionSpace collision_space)

void	runDeformation (int nbIteration, int idRun=0)
	Main optimizer function. More...

void	setUseOtp (bool use_otp)
	Set compute handover position.

void	setUseTimeLimit (bool use_limit)
	Set the use of a time limit. More...

void	setTimeLimit (double time)
	Set the maximal time for optimization in second. More...

void	setPassiveDofs (std::vector< confPtr_t > passive_dofs)
	Set the passive Dofs.

void	generateNoisyTrajectory (const API::Trajectory &traj, std::vector< std::vector< confPtr_t > > &noisy_trajectory)
	Generate the noisy trajectories. More...

void	setSharedPtr (boost::shared_ptr< StompOptimizer > &ptr)
	Functions to set the shared pointer.

void	resetSharedPtr ()

void	testMultiVariateGaussianSampler ()
	Test the noisy trajectory sampler.

double	getCollisionSpaceCost (Configuration &q)
	Get the current configuration collision cost.

void	getTrajectoryCost (std::vector< double > &cost, double step)
	Get the current trajectory cost profile.

int	getJointLimitViolations ()
	Get the current joint violation.

bool	getJointLimitViolationSuccess ()

bool	initialize (int num_time_steps)
	Initializes the task for a given number of time steps. More...

bool	initializeFromNewTrajectory (const API::Trajectory &traj)
	Initializes from a new trajectory.

void	initHandover ()
	Initializes the handover generator.

bool	execute (std::vector< Eigen::VectorXd > &parameters, Eigen::VectorXd &costs, const int iteration_number, bool resample=false)
	Executes the task for the given policy parameters, and returns the costs per timestep. More...

bool	getPolicy (boost::shared_ptr< stomp_motion_planner::Policy > &policy)
	Get the Policy object of this Task. More...

bool	setPolicy (const boost::shared_ptr< stomp_motion_planner::Policy > policy)
	Sets the Policy object of this Task. More...

bool	getControlCostWeight (double &control_cost_weight)
	Gets the weight of the control cost. More...

const ChompPlanningGroup *	getPlanningGroup () const
	Returns the planning group of the optimizer.

Robot *	getRobot ()
	Get the robot.

void	draw ()
	Draw function to be called outside.

void	setSource (confPtr_t q)
	Retreive source and target.

void	setTarget (confPtr_t q)

confPtr_t	getSource ()

confPtr_t	getTarget ()

API::Trajectory	getBestTraj ()
	Retreive best trajectory.

bool	humanHasMoved ()

Member Function Documentation

bool stomp_motion_planner::StompOptimizer::execute	(	std::vector< Eigen::VectorXd > &	parameters,
		Eigen::VectorXd &	costs,
		const int	iteration_number,
		bool	resample = `false`
	)

virtual

Executes the task for the given policy parameters, and returns the costs per timestep.

Parameters

parameters	[num_dimensions] num_parameters - policy parameters to execute
costs	Vector of num_time_steps, state space cost per timestep (do not include control costs)

Returns

Implements stomp_motion_planner::Task.

void stomp_motion_planner::StompOptimizer::generateNoisyTrajectory	(	const API::Trajectory &	traj,
		std::vector< std::vector< confPtr_t > > &	noisy_trajectory
	)

Generate the noisy trajectories.

Generate noisy trajectories.

Parameters

num_time_steps

bool stomp_motion_planner::StompOptimizer::getControlCostWeight ( double & control_cost_weight )

virtual

Gets the weight of the control cost.

Parameters

control_cost_weight

Returns

Implements stomp_motion_planner::Task.

bool stomp_motion_planner::StompOptimizer::getPolicy ( boost::shared_ptr< stomp_motion_planner::Policy > & policy )

virtual

Get the Policy object of this Task.

Parameters

policy

Returns

Implements stomp_motion_planner::Task.

bool stomp_motion_planner::StompOptimizer::initialize ( int num_time_steps )

virtual

Initializes the task for a given number of time steps.

Parameters

num_time_steps

Returns

Implements stomp_motion_planner::Task.

void stomp_motion_planner::StompOptimizer::runDeformation	(	int	nbIteration,
		int	idRun = `0`
	)

Main optimizer function.

Parameters

nbIteration	max number of iteration
idRun

Returns

time_>double(ith_save)

bool stomp_motion_planner::StompOptimizer::setPolicy ( const boost::shared_ptr< stomp_motion_planner::Policy > policy )

virtual

Sets the Policy object of this Task.

Parameters

policy

Returns

Implements stomp_motion_planner::Task.

void stomp_motion_planner::StompOptimizer::setTimeLimit ( double time )

inline

Set the maximal time for optimization in second.

Parameters

Time in second

void stomp_motion_planner::StompOptimizer::setUseTimeLimit ( bool use_limit )

inline

Set the use of a time limit.

Parameters

Time in second

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

src/planner/TrajectoryOptim/Stomp/stompOptimizer.hpp
src/planner/TrajectoryOptim/Stomp/stompOptimizer.cpp

Public Member Functions

Member Function Documentation