moveit2
The MoveIt Motion Planning Framework for ROS 2.
chomp_parameters.cpp
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34 
35 /* Author: Mrinal Kalakrishnan */
36 
38 
39 #include <algorithm>
40 
41 namespace chomp
42 {
44 {
46  max_iterations_ = 50;
50  learning_rate_ = 0.01;
51 
55  ridge_factor_ = 0.0;
56  use_pseudo_inverse_ = false;
58 
59  joint_update_limit_ = 0.1;
60  min_clearance_ = 0.2;
61  collision_threshold_ = 0.07;
63  filter_mode_ = false;
64  trajectory_initialization_method_ = std::string("quintic-spline");
67 }
68 
70 
71 void ChompParameters::setRecoveryParams(double learning_rate, double ridge_factor, int planning_time_limit,
72  int max_iterations)
73 {
74  this->learning_rate_ = learning_rate;
75  this->ridge_factor_ = ridge_factor;
76  this->planning_time_limit_ = planning_time_limit;
77  this->max_iterations_ = max_iterations;
78 }
79 
80 const std::vector<std::string> ChompParameters::VALID_INITIALIZATION_METHODS{ "quintic-spline", "linear", "cubic",
81  "fillTrajectory" };
82 
84 {
85  if (std::find(VALID_INITIALIZATION_METHODS.cbegin(), VALID_INITIALIZATION_METHODS.cend(), method) !=
87  {
88  this->trajectory_initialization_method_ = std::move(method);
89  return true;
90  }
91  return false;
92 }
93 } // namespace chomp
static const std::vector< std::string > VALID_INITIALIZATION_METHODS
std::string trajectory_initialization_method_
void setRecoveryParams(double learning_rate, double ridge_factor, int planning_time_limit, int max_iterations)
bool setTrajectoryInitializationMethod(std::string method)