#include <stomp_moveit_task.hpp>

Inheritance diagram for stomp_moveit::ComposableTask:

Collaboration diagram for stomp_moveit::ComposableTask:

Public Member Functions
	ComposableTask (NoiseGeneratorFn noise_generator_fn, CostFn cost_fn, FilterFn filter_fn, PostIterationFn post_iteration_fn, DoneFn done_fn)

	~ComposableTask ()=default

bool	generateNoisyParameters (const Eigen::MatrixXd &parameters, std::size_t, std::size_t, int, int, Eigen::MatrixXd &parameters_noise, Eigen::MatrixXd &noise) override
	Generates a noisy trajectory from the parameters.

bool	computeCosts (const Eigen::MatrixXd &parameters, std::size_t, std::size_t, int, Eigen::VectorXd &costs, bool &validity) override
	computes the state costs as a function of the distance from the bias parameters

bool	computeNoisyCosts (const Eigen::MatrixXd &parameters, std::size_t, std::size_t, int, int, Eigen::VectorXd &costs, bool &validity) override
	computes the state costs as a function of the distance from the bias parameters

bool	filterParameterUpdates (std::size_t, std::size_t, int, const Eigen::MatrixXd &parameters, Eigen::MatrixXd &updates) override
	Filters the given parameters which is applied after the update. It could be used for clipping of joint limits or projecting into the null space of the Jacobian.

void	postIteration (std::size_t, std::size_t, int iteration_number, double cost, const Eigen::MatrixXd &parameters) override
	Called by STOMP at the end of each iteration.

void	done (bool success, int total_iterations, double final_cost, const Eigen::MatrixXd &parameters) override
	Called by Stomp at the end of the optimization process.

Detailed Description

Definition at line 78 of file stomp_moveit_task.hpp.

Constructor & Destructor Documentation

◆ ComposableTask()

stomp_moveit::ComposableTask::ComposableTask	(	NoiseGeneratorFn	noise_generator_fn,
		CostFn	cost_fn,
		FilterFn	filter_fn,
		PostIterationFn	post_iteration_fn,
		DoneFn	done_fn
	)

inline

Definition at line 81 of file stomp_moveit_task.hpp.

◆ ~ComposableTask()

stomp_moveit::ComposableTask::~ComposableTask ( )

default

Member Function Documentation

◆ computeCosts()

bool stomp_moveit::ComposableTask::computeCosts	(	const Eigen::MatrixXd &	parameters,
		std::size_t	,
		std::size_t	,
		int	,
		Eigen::VectorXd &	costs,
		bool &	validity
	)

inlineoverride

computes the state costs as a function of the distance from the bias parameters

Parameters

parameters	A matrix [num_dimensions][num_parameters] of the policy parameters to execute
start_timestep	The start index into the 'parameters' array, usually 0.
num_timesteps	The number of elements to use from 'parameters' starting from 'start_timestep'
iteration_number	The current iteration count in the optimization loop
costs	A vector containing the state costs per timestep.
validity	Whether or not the trajectory is valid

Returns: True if cost were properly computed, otherwise false

Definition at line 121 of file stomp_moveit_task.hpp.

◆ computeNoisyCosts()

bool stomp_moveit::ComposableTask::computeNoisyCosts	(	const Eigen::MatrixXd &	parameters,
		std::size_t	,
		std::size_t	,
		int	,
		int	,
		Eigen::VectorXd &	costs,
		bool &	validity
	)

inlineoverride

computes the state costs as a function of the distance from the bias parameters

Parameters

parameters	A matrix [num_dimensions][num_parameters] of the policy parameters to execute
start_timestep	The start index into the 'parameters' array, usually 0.
num_timesteps	The number of elements to use from 'parameters' starting from 'start_timestep'
iteration_number	The current iteration count in the optimization loop
rollout_number	The index of the noisy trajectory.
costs	A vector containing the state costs per timestep.
validity	Whether or not the trajectory is valid

Returns: True if cost were properly computed, otherwise false

Definition at line 138 of file stomp_moveit_task.hpp.

◆ done()

void stomp_moveit::ComposableTask::done	(	bool	success,
		int	total_iterations,
		double	final_cost,
		const Eigen::MatrixXd &	parameters
	)

inlineoverride

Called by Stomp at the end of the optimization process.

Parameters

success	Whether the optimization succeeded
total_iterations	Number of iterations used
final_cost	The cost value after optimizing.
parameters	The parameters generated at the end of the optimization [num_dimensions x num_timesteps]

Definition at line 185 of file stomp_moveit_task.hpp.

◆ filterParameterUpdates()

bool stomp_moveit::ComposableTask::filterParameterUpdates	(	std::size_t	,
		std::size_t	,
		int	,
		const Eigen::MatrixXd &	parameters,
		Eigen::MatrixXd &	updates
	)

inlineoverride

Filters the given parameters which is applied after the update. It could be used for clipping of joint limits or projecting into the null space of the Jacobian.

Parameters

start_timestep	The start index into the 'parameters' array, usually 0.
num_timesteps	The number of elements to use from 'parameters' starting from 'start_timestep'
iteration_number	The current iteration count in the optimization loop
parameters	The optimized parameters
updates	The updates to the parameters

Returns: True if successful, otherwise false

Definition at line 156 of file stomp_moveit_task.hpp.

◆ generateNoisyParameters()

bool stomp_moveit::ComposableTask::generateNoisyParameters	(	const Eigen::MatrixXd &	parameters,
		std::size_t	,
		std::size_t	,
		int	,
		int	,
		Eigen::MatrixXd &	parameters_noise,
		Eigen::MatrixXd &	noise
	)

inlineoverride

Generates a noisy trajectory from the parameters.

Parameters

parameters	A matrix [num_dimensions][num_parameters] of the current optimized parameters
start_timestep	The start index into the 'parameters' array, usually 0.
num_timesteps	The number of elements to use from 'parameters' starting from 'start_timestep'
iteration_number	The current iteration count in the optimization loop
rollout_number	The index of the noisy trajectory.
parameters_noise	The parameters + noise
noise	The noise applied to the parameters

Returns: True if cost were properly computed, otherwise false

Definition at line 104 of file stomp_moveit_task.hpp.

◆ postIteration()

void stomp_moveit::ComposableTask::postIteration	(	std::size_t	,
		std::size_t	,
		int	iteration_number,
		double	cost,
		const Eigen::MatrixXd &	parameters
	)

inlineoverride

Called by STOMP at the end of each iteration.

Parameters

start_timestep	The start index into the 'parameters' array, usually 0.
num_timesteps	The number of elements to use from 'parameters' starting from 'start_timestep'
iteration_number	The current iteration count in the optimization loop
cost	The cost value for the current parameters.
parameters	The value of the parameters at the end of the current iteration [num_dimensions x num_timesteps].

Definition at line 171 of file stomp_moveit_task.hpp.

The documentation for this class was generated from the following file:

moveit_planners/stomp/include/stomp_moveit/stomp_moveit_task.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ComposableTask()

◆ ~ComposableTask()

Member Function Documentation

◆ computeCosts()

◆ computeNoisyCosts()

◆ done()

◆ filterParameterUpdates()

◆ generateNoisyParameters()

◆ postIteration()