chomp_parameters.cpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
/* Author: Mrinal Kalakrishnan */
 
#include <chomp_motion_planner/chomp_parameters.h>
 
#include <algorithm>
 
namespace chomp
{
ChompParameters::ChompParameters()
{
  planning_time_limit_ = 6.0;
  max_iterations_ = 50;
  max_iterations_after_collision_free_ = 5;
  smoothness_cost_weight_ = 0.1;
  obstacle_cost_weight_ = 1.0;
  learning_rate_ = 0.01;
 
  smoothness_cost_velocity_ = 0.0;
  smoothness_cost_acceleration_ = 1.0;
  smoothness_cost_jerk_ = 0.0;
  ridge_factor_ = 0.0;
  use_pseudo_inverse_ = false;
  pseudo_inverse_ridge_factor_ = 1e-4;
 
  joint_update_limit_ = 0.1;
  min_clearance_ = 0.2;
  collision_threshold_ = 0.07;
  use_stochastic_descent_ = true;
  filter_mode_ = false;
  trajectory_initialization_method_ = std::string("quintic-spline");
  enable_failure_recovery_ = false;
  max_recovery_attempts_ = 5;
}
 
ChompParameters::~ChompParameters() = default;
 
void ChompParameters::setRecoveryParams(double learning_rate, double ridge_factor, int planning_time_limit,
                                        int max_iterations)
{
  this->learning_rate_ = learning_rate;
  this->ridge_factor_ = ridge_factor;
  this->planning_time_limit_ = planning_time_limit;
  this->max_iterations_ = max_iterations;
}
 
const std::vector<std::string> ChompParameters::VALID_INITIALIZATION_METHODS{ "quintic-spline", "linear", "cubic",
                                                                              "fillTrajectory" };
 
bool ChompParameters::setTrajectoryInitializationMethod(std::string method)
{
  if (std::find(VALID_INITIALIZATION_METHODS.cbegin(), VALID_INITIALIZATION_METHODS.cend(), method) !=
      VALID_INITIALIZATION_METHODS.end())
  {
    this->trajectory_initialization_method_ = std::move(method);
    return true;
  }
  return false;
}
}  // namespace chomp