Settings descriptor for settings provided by the default MoveIt! CHOMP planning pipeline. More...

#include <planning.h>

Public Member Functions
	CHOMPSettings ()
	Constructor. Initialized here so an empty class can be used as default arguments in a function. More...

void	setParam (IO::Handler &handler) const
	Sets member variables on the parameter server using handler. More...

Public Attributes
double	planning_time_limit
	Maximum time the optimizer can take to find a solution. More...

int	max_iterations
	Maximum number of iterations the planner can take while optimization. More...

int	max_iterations_after_collision_free

double	smoothness_cost_weight
	Weight given to the smoothnes cost in optimization problem. More...

double	obstacle_cost_weight
	Weight given to the obstacle cost in optimization problem. More...

double	learning_rate
	Learning rate for gradient descent. More...

bool	animate_path
	Whether to create an animated path. More...

bool	add_randomness
	Whether to add randomness. More...

double	smoothness_cost_velocity
	Variable associated with the cost in velocity. More...

double	smoothness_cost_acceleration
	Variable associtated with the cost in acceleration. More...

double	smoothness_cost_jerk
	Variable associated with the cost in jerk. More...

double	hmc_discretization
	Discretization level for the Hamiltonian MonteCarlo. More...

double	hmc_stochasticity
	Stochasticity level of Hamitonian MonteCarlo. More...

double	hmc_annealing_factor
	Annealing factor in Hamiltonian MonteCarlo. More...

bool	use_hamiltonian_monte_carlo
	Whether to use hamiltonian monte carlo or not. More...

double	ridge_factor

bool	use_pseudo_inverse
	Whether to use pseudo-inverse computations or not. More...

double	pseudo_inverse_ridge_factor
	ridge factor when pseudo-inverse is on. More...

bool	animate_endeffector
	Whether to animate the end effector or not. More...

std::string	animate_endeffector_segment
	Name of end effector segment to animate. More...

double	joint_update_limit
	Update limit for the robot joints. More...

double	collision_clearence

double	collision_threshold
	Cost threshold for collision detection. More...

double	random_jump_amount
	Amount of random jump. More...

bool	use_stochastic_descent
	Whether to use SGD or not. More...

bool	enable_failure_recovery

int	max_recovery_attempts
	Maximum number of times that CHOMP tweaks parameters. More...

std::string	trajectory_initialization_method

double	start_state_max_bounds_error
	Maximum bound errors for the initial state. More...

Detailed Description

Settings descriptor for settings provided by the default MoveIt! CHOMP planning pipeline.

Definition at line 383 of file robowflex_library/include/robowflex_library/planning.h.

Constructor & Destructor Documentation

◆ CHOMPSettings()

opt::CHOMPSettings::CHOMPSettings ( )

Constructor. Initialized here so an empty class can be used as default arguments in a function.

opt::CHOMPSettings

Definition at line 407 of file robowflex_library/src/planning.cpp.

   : planning_time_limit(10.0)
   , max_iterations(200)
   , max_iterations_after_collision_free(5)
   , smoothness_cost_weight(0.1)
   , obstacle_cost_weight(0.0)
   , learning_rate(0.01)
   , animate_path(true)
   , add_randomness(false)
   , smoothness_cost_velocity(0.0)
   , smoothness_cost_acceleration(1.0)
   , smoothness_cost_jerk(0.0)
   , hmc_discretization(0.01)
   , hmc_stochasticity(0.01)
   , hmc_annealing_factor(0.99)
   , use_hamiltonian_monte_carlo(false)
   , ridge_factor(0.001)
   , use_pseudo_inverse(false)
   , pseudo_inverse_ridge_factor(1e-4)
   , animate_endeffector(false)
   , animate_endeffector_segment("")
   , joint_update_limit(0.1)
   , collision_clearence(0.2)
   , collision_threshold(0.07)
   , random_jump_amount(1.0)
   , use_stochastic_descent(true)
   , enable_failure_recovery(true)
   , max_recovery_attempts(5)
   , trajectory_initialization_method("quintic-spline")
   , start_state_max_bounds_error(0.1)
 {
 }

Member Function Documentation

◆ setParam()

void opt::CHOMPSettings::setParam ( IO::Handler & handler ) const

Sets member variables on the parameter server using handler.

Definition at line 440 of file robowflex_library/src/planning.cpp.

 {
     const std::string prefix;
     handler.setParam(prefix + "planning_time_limit", planning_time_limit);
     handler.setParam(prefix + "max_iterations", max_iterations);
     handler.setParam(prefix + "max_iterations_after_collision_free", max_iterations_after_collision_free);
     handler.setParam(prefix + "smoothness_cost_weight", smoothness_cost_weight);
     handler.setParam(prefix + "obstacle_cost_weight", obstacle_cost_weight);
     handler.setParam(prefix + "learning_rate", learning_rate);
     handler.setParam(prefix + "animate_path", animate_path);
     handler.setParam(prefix + "add_randomness", add_randomness);
     handler.setParam(prefix + "smoothness_cost_velocity", smoothness_cost_velocity);
     handler.setParam(prefix + "smoothness_cost_acceleration", smoothness_cost_acceleration);
     handler.setParam(prefix + "smoothness_cost_jerk", smoothness_cost_jerk);
     handler.setParam(prefix + "hmc_discretization", hmc_discretization);
     handler.setParam(prefix + "hmc_stochasticity", hmc_stochasticity);
     handler.setParam(prefix + "hmc_annealing_factor", hmc_annealing_factor);
     handler.setParam(prefix + "use_hamiltonian_monte_carlo", use_hamiltonian_monte_carlo);
     handler.setParam(prefix + "ridge_factor", ridge_factor);
     handler.setParam(prefix + "use_pseudo_inverse", use_pseudo_inverse);
     handler.setParam(prefix + "pseudo_inverse_ridge_factor", pseudo_inverse_ridge_factor);
     handler.setParam(prefix + "animate_endeffector", animate_endeffector);
     handler.setParam(prefix + "animate_endeffector_segment", animate_endeffector_segment);
     handler.setParam(prefix + "joint_update_limit", joint_update_limit);
     handler.setParam(prefix + "collision_clearence", collision_clearence);
     handler.setParam(prefix + "collision_threshold", collision_threshold);
     handler.setParam(prefix + "random_jump_amount", random_jump_amount);
     handler.setParam(prefix + "use_stochastic_descent", use_stochastic_descent);
     handler.setParam(prefix + "enable_failure_recovery", enable_failure_recovery);
     handler.setParam(prefix + "max_recovery_attempts", max_recovery_attempts);
     handler.setParam(prefix + "trajectory_initialization_method", trajectory_initialization_method);
     handler.setParam(prefix + "start_state_max_bounds_error", start_state_max_bounds_error);
 }

Member Data Documentation

◆ add_randomness

bool robowflex::opt::CHOMPSettings::add_randomness

Whether to add randomness.

Definition at line 399 of file robowflex_library/include/robowflex_library/planning.h.

◆ animate_endeffector

bool robowflex::opt::CHOMPSettings::animate_endeffector

Whether to animate the end effector or not.

Definition at line 411 of file robowflex_library/include/robowflex_library/planning.h.

◆ animate_endeffector_segment

std::string robowflex::opt::CHOMPSettings::animate_endeffector_segment

Name of end effector segment to animate.

Definition at line 412 of file robowflex_library/include/robowflex_library/planning.h.

◆ animate_path

bool robowflex::opt::CHOMPSettings::animate_path

Whether to create an animated path.

Definition at line 398 of file robowflex_library/include/robowflex_library/planning.h.

◆ collision_clearence

double robowflex::opt::CHOMPSettings::collision_clearence

Minimum distance to the obstacles that the robot needs to stay away from.

Definition at line 414 of file robowflex_library/include/robowflex_library/planning.h.

◆ collision_threshold

double robowflex::opt::CHOMPSettings::collision_threshold

Cost threshold for collision detection.

Definition at line 416 of file robowflex_library/include/robowflex_library/planning.h.

◆ enable_failure_recovery

bool robowflex::opt::CHOMPSettings::enable_failure_recovery

If enabled, CHOMP can tweak the parameters hoping to find a solution if one is not found using the default parameters.

Definition at line 419 of file robowflex_library/include/robowflex_library/planning.h.

◆ hmc_annealing_factor

double robowflex::opt::CHOMPSettings::hmc_annealing_factor

Annealing factor in Hamiltonian MonteCarlo.

Definition at line 405 of file robowflex_library/include/robowflex_library/planning.h.

◆ hmc_discretization

double robowflex::opt::CHOMPSettings::hmc_discretization

Discretization level for the Hamiltonian MonteCarlo.

Definition at line 403 of file robowflex_library/include/robowflex_library/planning.h.

◆ hmc_stochasticity

double robowflex::opt::CHOMPSettings::hmc_stochasticity

Stochasticity level of Hamitonian MonteCarlo.

Definition at line 404 of file robowflex_library/include/robowflex_library/planning.h.

◆ joint_update_limit

double robowflex::opt::CHOMPSettings::joint_update_limit

Update limit for the robot joints.

Definition at line 413 of file robowflex_library/include/robowflex_library/planning.h.

◆ learning_rate

double robowflex::opt::CHOMPSettings::learning_rate

Learning rate for gradient descent.

Definition at line 397 of file robowflex_library/include/robowflex_library/planning.h.

◆ max_iterations

int robowflex::opt::CHOMPSettings::max_iterations

Maximum number of iterations the planner can take while optimization.

Definition at line 392 of file robowflex_library/include/robowflex_library/planning.h.

◆ max_iterations_after_collision_free

int robowflex::opt::CHOMPSettings::max_iterations_after_collision_free

Maximum number of iterations the planner will take after having found a collision-free path.

Definition at line 393 of file robowflex_library/include/robowflex_library/planning.h.

◆ max_recovery_attempts

int robowflex::opt::CHOMPSettings::max_recovery_attempts

Maximum number of times that CHOMP tweaks parameters.

Definition at line 421 of file robowflex_library/include/robowflex_library/planning.h.

◆ obstacle_cost_weight

double robowflex::opt::CHOMPSettings::obstacle_cost_weight

Weight given to the obstacle cost in optimization problem.

Definition at line 396 of file robowflex_library/include/robowflex_library/planning.h.

◆ planning_time_limit

double robowflex::opt::CHOMPSettings::planning_time_limit

Maximum time the optimizer can take to find a solution.

Definition at line 391 of file robowflex_library/include/robowflex_library/planning.h.

◆ pseudo_inverse_ridge_factor

double robowflex::opt::CHOMPSettings::pseudo_inverse_ridge_factor

ridge factor when pseudo-inverse is on.

Definition at line 410 of file robowflex_library/include/robowflex_library/planning.h.

◆ random_jump_amount

double robowflex::opt::CHOMPSettings::random_jump_amount

Amount of random jump.

Definition at line 417 of file robowflex_library/include/robowflex_library/planning.h.

◆ ridge_factor

double robowflex::opt::CHOMPSettings::ridge_factor

Amount of noise added to the diagonal of the quadratic cost matrix. Needs to be grater than zero to allow CHOMP to avoid obstacles.

Definition at line 407 of file robowflex_library/include/robowflex_library/planning.h.

◆ smoothness_cost_acceleration

double robowflex::opt::CHOMPSettings::smoothness_cost_acceleration

Variable associtated with the cost in acceleration.

Definition at line 401 of file robowflex_library/include/robowflex_library/planning.h.

◆ smoothness_cost_jerk

double robowflex::opt::CHOMPSettings::smoothness_cost_jerk

Variable associated with the cost in jerk.

Definition at line 402 of file robowflex_library/include/robowflex_library/planning.h.

◆ smoothness_cost_velocity

double robowflex::opt::CHOMPSettings::smoothness_cost_velocity

Variable associated with the cost in velocity.

Definition at line 400 of file robowflex_library/include/robowflex_library/planning.h.

◆ smoothness_cost_weight

double robowflex::opt::CHOMPSettings::smoothness_cost_weight

Weight given to the smoothnes cost in optimization problem.

Definition at line 395 of file robowflex_library/include/robowflex_library/planning.h.

◆ start_state_max_bounds_error

double robowflex::opt::CHOMPSettings::start_state_max_bounds_error

Maximum bound errors for the initial state.

Definition at line 425 of file robowflex_library/include/robowflex_library/planning.h.

◆ trajectory_initialization_method

std::string robowflex::opt::CHOMPSettings::trajectory_initialization_method

Type of initial trajectory for CHOMP. Possible values are quintic-spline, linear, cubic or fillTrajectory.

Definition at line 422 of file robowflex_library/include/robowflex_library/planning.h.

◆ use_hamiltonian_monte_carlo

bool robowflex::opt::CHOMPSettings::use_hamiltonian_monte_carlo

Whether to use hamiltonian monte carlo or not.

Definition at line 406 of file robowflex_library/include/robowflex_library/planning.h.

◆ use_pseudo_inverse

bool robowflex::opt::CHOMPSettings::use_pseudo_inverse

Whether to use pseudo-inverse computations or not.

Definition at line 409 of file robowflex_library/include/robowflex_library/planning.h.

◆ use_stochastic_descent

bool robowflex::opt::CHOMPSettings::use_stochastic_descent

Whether to use SGD or not.

Definition at line 418 of file robowflex_library/include/robowflex_library/planning.h.

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

Public Member Functions

Public Attributes