Options structure with parameter values for TrajOpt planner. More...

#include <trajopt_planner.h>

Public Attributes
sco::ModelType	backend_optimizer {sco::ModelType::AUTO_SOLVER}
	Optimizer to use. More...

bool	perturb_init_traj {false}

double	noise_init_traj {0.09}

bool	verbose {true}
	Verbosity. More...

bool	return_first_sol {true}

bool	return_after_timeout {false}

double	max_planning_time {1.0}

bool	use_cont_col_avoid {true}
	Whether to use continuous collision avoidance or not. More...

int	num_waypoints {20}
	Number of waypoints. More...

double	dt_lower_lim {2.0}
	1/max_dt. More...

double	dt_upper_lim {100.0}
	1/min_dt. More...

bool	start_fixed {false}
	Whether to use the current env state as a fixed initial state. More...

bool	use_time {false}
	Whether any cost/cnt use time. More...

double	init_info_dt {0.5}
	Value of dt in init_info. More...

double	joint_vel_coeffs {5.0}
	Coefficients for joint_vel costs. More...

int	collision_gap {1}

double	default_safety_margin {0.025}
	Default safety margin for collision avoidance. More...

double	default_safety_margin_coeffs {50.0}
	Coefficients for safety margin. More...

double	joint_pose_safety_margin_coeffs {50.0}

double	joint_state_safety_margin_coeffs {20.0}

double	pose_cnt_pos_coeffs {10.0}
	Coefficients for pose constraints (position). More...

double	pose_cnt_rot_coeffs {10.0}
	Coefficients for pose constraints (rotation). More...

double	joint_pos_cnt_coeffs {1.0}
	Coefficients for joint position constraints. More...

double	improve_ratio_threshold {0.25}

double	min_trust_box_size {1e-4}

double	min_approx_improve {1e-4}

double	min_approx_improve_frac

double	max_iter {50.0}
	The max number of iterations. More...

double	trust_shrink_ratio {0.1}

double	trust_expand_ratio {1.5}

double	cnt_tolerance {1e-4}

double	max_merit_coeff_increases {5.0}
	Number of times that we jack up penalty coefficient. More...

double	merit_coeff_increase_ratio {10.0}
	Ratio that we increate coeff each time. More...

double	merit_error_coeff {10.0}
	Initial penalty coefficient. More...

double	trust_box_size {1e-1}
	Current size of trust region (component-wise). More...

Detailed Description

Options structure with parameter values for TrajOpt planner.

Definition at line 38 of file trajopt_planner.h.

Member Data Documentation

◆ backend_optimizer

sco::ModelType robowflex::TrajOptPlanner::Options::backend_optimizer {sco::ModelType::AUTO_SOLVER}

Optimizer to use.

Definition at line 40 of file trajopt_planner.h.

◆ cnt_tolerance

double robowflex::TrajOptPlanner::Options::cnt_tolerance {1e-4}

After convergence of penalty subproblem, if constraint violation is less than this, we're done.

Definition at line 86 of file trajopt_planner.h.

◆ collision_gap

int robowflex::TrajOptPlanner::Options::collision_gap {1}

For continuous collision avoidance, compute swept-volume between timestep t and t+gap.

Definition at line 61 of file trajopt_planner.h.

◆ default_safety_margin

double robowflex::TrajOptPlanner::Options::default_safety_margin {0.025}

Default safety margin for collision avoidance.

Definition at line 63 of file trajopt_planner.h.

◆ default_safety_margin_coeffs

double robowflex::TrajOptPlanner::Options::default_safety_margin_coeffs {50.0}

Coefficients for safety margin.

Definition at line 64 of file trajopt_planner.h.

◆ dt_lower_lim

double robowflex::TrajOptPlanner::Options::dt_lower_lim {2.0}

1/max_dt.

Definition at line 55 of file trajopt_planner.h.

◆ dt_upper_lim

double robowflex::TrajOptPlanner::Options::dt_upper_lim {100.0}

1/min_dt.

Definition at line 56 of file trajopt_planner.h.

◆ improve_ratio_threshold

double robowflex::TrajOptPlanner::Options::improve_ratio_threshold {0.25}

Minimum ratio true_improve/approx_improve to accept step.

Definition at line 72 of file trajopt_planner.h.

◆ init_info_dt

double robowflex::TrajOptPlanner::Options::init_info_dt {0.5}

Value of dt in init_info.

Definition at line 59 of file trajopt_planner.h.

◆ joint_pos_cnt_coeffs

double robowflex::TrajOptPlanner::Options::joint_pos_cnt_coeffs {1.0}

Coefficients for joint position constraints.

Definition at line 71 of file trajopt_planner.h.

◆ joint_pose_safety_margin_coeffs

double robowflex::TrajOptPlanner::Options::joint_pose_safety_margin_coeffs {50.0}

Coefficients for safety margin when using joint pose costs/cnts.

Definition at line 65 of file trajopt_planner.h.

◆ joint_state_safety_margin_coeffs

double robowflex::TrajOptPlanner::Options::joint_state_safety_margin_coeffs {20.0}

Coefficients for safety margin when using joint state costs/cnts.

Definition at line 67 of file trajopt_planner.h.

◆ joint_vel_coeffs

double robowflex::TrajOptPlanner::Options::joint_vel_coeffs {5.0}

Coefficients for joint_vel costs.

Definition at line 60 of file trajopt_planner.h.

◆ max_iter

double robowflex::TrajOptPlanner::Options::max_iter {50.0}

The max number of iterations.

Definition at line 81 of file trajopt_planner.h.

◆ max_merit_coeff_increases

double robowflex::TrajOptPlanner::Options::max_merit_coeff_increases {5.0}

Number of times that we jack up penalty coefficient.

Definition at line 88 of file trajopt_planner.h.

◆ max_planning_time

double robowflex::TrajOptPlanner::Options::max_planning_time {1.0}

Maximum amount of time the planner is allowed to search for a feasible solution.

Definition at line 51 of file trajopt_planner.h.

◆ merit_coeff_increase_ratio

double robowflex::TrajOptPlanner::Options::merit_coeff_increase_ratio {10.0}

Ratio that we increate coeff each time.

Definition at line 89 of file trajopt_planner.h.

◆ merit_error_coeff

double robowflex::TrajOptPlanner::Options::merit_error_coeff {10.0}

Initial penalty coefficient.

Definition at line 90 of file trajopt_planner.h.

◆ min_approx_improve

double robowflex::TrajOptPlanner::Options::min_approx_improve {1e-4}

If model improves less than this, exit and report convergence.

Definition at line 76 of file trajopt_planner.h.

◆ min_approx_improve_frac

double robowflex::TrajOptPlanner::Options::min_approx_improve_frac

Initial value:

{

-std::numeric_limits<double>::infinity()}

std::numeric_limits::infinity

T infinity(T... args)

If model improves less than this, exit and report convergence.

Definition at line 78 of file trajopt_planner.h.

◆ min_trust_box_size

double robowflex::TrajOptPlanner::Options::min_trust_box_size {1e-4}

If trust region gets any smaller, exit and report convergence.

Definition at line 74 of file trajopt_planner.h.

◆ noise_init_traj

double robowflex::TrajOptPlanner::Options::noise_init_traj {0.09}

Max and (negative) min amount of uniform noise added to each joint value for all waypoints of an initial trajectory.

Definition at line 43 of file trajopt_planner.h.

◆ num_waypoints

int robowflex::TrajOptPlanner::Options::num_waypoints {20}

Number of waypoints.

Definition at line 54 of file trajopt_planner.h.

◆ perturb_init_traj

bool robowflex::TrajOptPlanner::Options::perturb_init_traj {false}

Whether the initial trajectory should be randomly perturbed or not.

Definition at line 41 of file trajopt_planner.h.

◆ pose_cnt_pos_coeffs

double robowflex::TrajOptPlanner::Options::pose_cnt_pos_coeffs {10.0}

Coefficients for pose constraints (position).

Definition at line 69 of file trajopt_planner.h.

◆ pose_cnt_rot_coeffs

double robowflex::TrajOptPlanner::Options::pose_cnt_rot_coeffs {10.0}

Coefficients for pose constraints (rotation).

Definition at line 70 of file trajopt_planner.h.

◆ return_after_timeout

bool robowflex::TrajOptPlanner::Options::return_after_timeout {false}

Whether the planner returns after timeout or after the first feasible solution.

Definition at line 49 of file trajopt_planner.h.

◆ return_first_sol

bool robowflex::TrajOptPlanner::Options::return_first_sol {true}

Whether the planner runs only once or not. This has higher piority than return_until_timeout. Choosing false will set perturb_init_traj to true.

Definition at line 46 of file trajopt_planner.h.

◆ start_fixed

bool robowflex::TrajOptPlanner::Options::start_fixed {false}

Whether to use the current env state as a fixed initial state.

Definition at line 57 of file trajopt_planner.h.

◆ trust_box_size

double robowflex::TrajOptPlanner::Options::trust_box_size {1e-1}

Current size of trust region (component-wise).

Definition at line 91 of file trajopt_planner.h.

◆ trust_expand_ratio

double robowflex::TrajOptPlanner::Options::trust_expand_ratio {1.5}

If improvement is greater than improve_ratio_threshold, expand trust region by this ratio.

Definition at line 84 of file trajopt_planner.h.

◆ trust_shrink_ratio

double robowflex::TrajOptPlanner::Options::trust_shrink_ratio {0.1}

Definition at line 82 of file trajopt_planner.h.

◆ use_cont_col_avoid

bool robowflex::TrajOptPlanner::Options::use_cont_col_avoid {true}

Whether to use continuous collision avoidance or not.

Definition at line 53 of file trajopt_planner.h.

◆ use_time

bool robowflex::TrajOptPlanner::Options::use_time {false}

Whether any cost/cnt use time.

Definition at line 58 of file trajopt_planner.h.

◆ verbose

bool robowflex::TrajOptPlanner::Options::verbose {true}

Verbosity.

Definition at line 45 of file trajopt_planner.h.

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

trajopt_planner.h

Public Attributes