Inheritance diagram for stomp_motion_planner::Task:

Public Member Functions
virtual bool	initialize (int num_time_steps)=0
	Initializes the task for a given number of time steps. More...

virtual bool	execute (std::vector< Eigen::VectorXd > &parameters, Eigen::VectorXd &costs, const int iteration_number, bool resample=false)=0
	Executes the task for the given policy parameters, and returns the costs per timestep. More...

virtual bool	getPolicy (boost::shared_ptr< stomp_motion_planner::Policy > &policy)=0
	Get the Policy object of this Task. More...

virtual bool	setPolicy (const boost::shared_ptr< stomp_motion_planner::Policy > policy)=0
	Sets the Policy object of this Task. More...

virtual bool	getControlCostWeight (double &control_cost_weight)=0
	Gets the weight of the control cost. More...

Member Function Documentation

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

pure 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)