chomp_parameters.hpp

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/* Author: Mrinal Kalakrishnan */
 
#include <string>
#include <vector>
 
#pragma once
 
namespace chomp
{
class ChompParameters
{
public:
  ChompParameters();
  virtual ~ChompParameters();
 
  void setRecoveryParams(double learning_rate, double ridge_factor, int planning_time_limit, int max_iterations);
 
  bool setTrajectoryInitializationMethod(std::string method);
 
public:
  double planning_time_limit_; 
  int max_iterations_; 
  int max_iterations_after_collision_free_; 
  double smoothness_cost_weight_; 
  double obstacle_cost_weight_; 
  double
      learning_rate_; 
  double smoothness_cost_velocity_;     
  double smoothness_cost_acceleration_; 
  double smoothness_cost_jerk_;         
  bool use_stochastic_descent_; 
  double
      ridge_factor_; 
  bool use_pseudo_inverse_;            
  double pseudo_inverse_ridge_factor_; 
  double joint_update_limit_;  
  double min_clearance_;       
  double collision_threshold_; 
  bool filter_mode_;
 
  static const std::vector<std::string> VALID_INITIALIZATION_METHODS;
  std::string trajectory_initialization_method_; 
  bool enable_failure_recovery_; 
  int max_recovery_attempts_;    
};
 
}  // namespace chomp