hebi::robot_model::CustomObjective< N > Class Template Referencefinal
Allows you to add a custom objective function. More...
#include <robot_model.hpp>
Public Types | |
| using | ObjectiveCallback = std::function< void(const std::vector< double > &, std::array< double, N > &)> |
Public Member Functions | |
| CustomObjective (ObjectiveCallback error_function) | |
| CustomObjective (double weight, ObjectiveCallback error_function) | |
| void | callCallback (void *, size_t num_positions, const double *positions, double *errors) const |
 Public Member Functions inherited from hebi::robot_model::Objective | |
| virtual | ~Objective () |
Additional Inherited Members |
Detailed Description
template<size_t N>
class hebi::robot_model::CustomObjective< N >
Allows you to add a custom objective function.
To use, you must implement and pass in a std::function object that takes a vector of positions and an array of error values that you should fill in:
std::function<void(const std::vector<double>&, std::array<double, N>&)>;
This function is called at each step of the optimization.
Note that the template parameter N is the number of independent errors that your objective function sets.
Example usage, using a lambda function for the callback. Note that this toy example optimizes for joint angles that sum to 2:
Eigen::VectorXd initial_joint_angles(group->size());
Eigen::VectorXd ik_result_joint_angles(group->size());
model->solveIK(
initial_joint_angles,
ik_result_joint_angles,
robot_model::CustomObjective<1>(
[](const std::vector<double> positions, std::array<double, 1>& errors)
{
// Add up all the joint angles
double sum = 0;
for (auto p : positions)
sum += p;
// This objective prefers joint angles that sum to '2'
errors[0] = 2 - sum;
}
)
);
Member Typedef Documentation
◆ ObjectiveCallback
template<size_t N>
| using hebi::robot_model::CustomObjective< N >::ObjectiveCallback = std::function<void(const std::vector<double>&, std::array<double, N>&)> |
Constructor & Destructor Documentation
◆ CustomObjective() [1/2]
template<size_t N>
|
inline |
◆ CustomObjective() [2/2]
template<size_t N>
|
inline |
Member Function Documentation
◆ callCallback()
template<size_t N>
|
inline |
The documentation for this class was generated from the following file:
