moveit2
The MoveIt Motion Planning Framework for ROS 2.
chomp_cost.h
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34 
35 /* Author: Mrinal Kalakrishnan */
36 
37 #pragma once
38 
40 
41 #include <eigen3/Eigen/Core>
42 #include <vector>
43 
44 namespace chomp
45 {
49 class ChompCost
50 {
51 public:
52  ChompCost(const ChompTrajectory& trajectory, int joint_number, const std::vector<double>& derivative_costs,
53  double ridge_factor = 0.0);
54  virtual ~ChompCost();
55 
56  template <typename Derived>
57  void getDerivative(const Eigen::MatrixXd::ColXpr& joint_trajectory, Eigen::MatrixBase<Derived>& derivative) const;
58 
59  const Eigen::MatrixXd& getQuadraticCostInverse() const;
60 
61  const Eigen::MatrixXd& getQuadraticCost() const;
62 
63  double getCost(const Eigen::MatrixXd::ColXpr& joint_trajectory) const;
64 
65  double getMaxQuadCostInvValue() const;
66 
67  void scale(double scale);
68 
69 private:
70  Eigen::MatrixXd quad_cost_full_;
71  Eigen::MatrixXd quad_cost_;
72  // Eigen::VectorXd linear_cost_;
73  Eigen::MatrixXd quad_cost_inv_;
74 
75  Eigen::MatrixXd getDiffMatrix(int size, const double* diff_rule) const;
76 };
77 
78 template <typename Derived>
79 void ChompCost::getDerivative(const Eigen::MatrixXd::ColXpr& joint_trajectory,
80  Eigen::MatrixBase<Derived>& derivative) const
81 {
82  derivative = (quad_cost_full_ * (2.0 * joint_trajectory));
83 }
84 
85 inline const Eigen::MatrixXd& ChompCost::getQuadraticCostInverse() const
86 {
87  return quad_cost_inv_;
88 }
89 
90 inline const Eigen::MatrixXd& ChompCost::getQuadraticCost() const
91 {
92  return quad_cost_;
93 }
94 
95 inline double ChompCost::getCost(const Eigen::MatrixXd::ColXpr& joint_trajectory) const
96 {
97  return joint_trajectory.dot(quad_cost_full_ * joint_trajectory);
98 }
99 
100 } // namespace chomp
Represents the smoothness cost for CHOMP, for a single joint.
Definition: chomp_cost.h:50
void getDerivative(const Eigen::MatrixXd::ColXpr &joint_trajectory, Eigen::MatrixBase< Derived > &derivative) const
Definition: chomp_cost.h:79
ChompCost(const ChompTrajectory &trajectory, int joint_number, const std::vector< double > &derivative_costs, double ridge_factor=0.0)
Definition: chomp_cost.cpp:47
const Eigen::MatrixXd & getQuadraticCostInverse() const
Definition: chomp_cost.h:85
const Eigen::MatrixXd & getQuadraticCost() const
Definition: chomp_cost.h:90
double getMaxQuadCostInvValue() const
Definition: chomp_cost.cpp:92
virtual ~ChompCost()
void scale(double scale)
Definition: chomp_cost.cpp:97
double getCost(const Eigen::MatrixXd::ColXpr &joint_trajectory) const
Definition: chomp_cost.h:95
Represents a discretized joint-space trajectory for CHOMP.