The MoveIt Motion Planning Framework for ROS 2.
stomp_moveit::noise Namespace Reference


NoiseGeneratorFn getNormalDistributionGenerator (size_t num_timesteps, const std::vector< double > &stddev)

Function Documentation

◆ getNormalDistributionGenerator()

NoiseGeneratorFn stomp_moveit::noise::getNormalDistributionGenerator ( size_t  num_timesteps,
const std::vector< double > &  stddev 

Creates a noise generator function that applies noise sampled from a normal distribution. The noise is applied over a matrix of size (num_timesteps, stddev.size()) which corresponds to the matrix representation of a robot trajectory.

num_timestepsthe waypoint count of the trajectory
stddevthe standard deviation for each variable dimension (number of joints)

Definition at line 58 of file noise_generators.hpp.

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