stomp_moveit_task.hpp File Reference

A STOMP task definition that allows injecting custom functions for planning. More...

#include <stomp/task.h>

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Classes
class	stomp_moveit::ComposableTask

Namespaces
namespace	stomp_moveit

Typedefs
using	stomp_moveit::NoiseGeneratorFn
using	stomp_moveit::CostFn = std::function<bool(const Eigen::MatrixXd& values, Eigen::VectorXd& costs, bool& validity)>
using	stomp_moveit::FilterFn = std::function<bool(const Eigen::MatrixXd& values, Eigen::MatrixXd& filtered_values)>
using	stomp_moveit::PostIterationFn = std::function<void(int iteration_number, double cost, const Eigen::MatrixXd& values)>
using	stomp_moveit::DoneFn

Detailed Description

A STOMP task definition that allows injecting custom functions for planning.

Author

Henning Kayser

STOMP's task interface can be used for customizing the planning objective, in particular the code used for sampling new random trajectories and for computing costs and validity of waypoint candidates. In order to allow building generic planning tasks at runtime, the ComposableTask class enables combining generic function types for planning:

• NoiseGeneratorFn: computes randomized paths
• CostFn: computes waypoint costs and path validity
• FilterFn: applies a filter to path waypoints
• PostIterationFn: reports on planning progress at each iteration (see STOMP documentation)
• DoneFn: reports on planning result when STOMP run terminates

Each of these functions use Eigen types for representing path and waypoints. The Eigen::MatrixXd 'values' refer to full path candidates where rows are the joint dimensions and columns are the waypoints. Accordingly, Eigen::VectorXd is used for representing cost values, one value for each waypoint.

Definition in file stomp_moveit_task.hpp.