Resetting

In both the Javascript and Python interfaces, the Solver class has a reset method that allows the user to reset the state of the solver given new objective, weights and a new robot state. In this case, the robot state only needs to supply the joints and origin field, as shown in the initialization example.

Parameter	Type	Optional	Description
state	State	no	The new state will replace the original one in the next cycle of calculation
weights	look-up table of float value indexed by string key	no	The new weights will replace the original one in the next cycle of calculation

Javascript

solver.reset(
  // A new state with origin and joint properties
  {
    origin:{
      translation:[0,0,0],
      rotation:[1,0,0,0]
    },
    joints:{
      panda_joint1:0.0,
      panda_joint2:0.0,
      ...
    }
  }, 
  // Weights
  {
    myObjective:0.5
  }
)

Python

solver.reset(
  state=State(
    origin=Transform.identity(),
    joints={
      "panda_joint1":0.0,
      "panda_joint2":0.0,
      ...
    }
  ),
  weights={}
)

Rust

let mut joints: HashMap<String,f64> = HashMap::new();
joints.insert(
  "panda_joint1".into(),
  0.0
);
joints.insert(
  "panda_joint2".into(),
  0.0
)
...

let new_state: State = State::new(
      Isometry3::identity(), // Origin
      joints, // Joint Values
      frames: HashMap::new(), // Ignored, so just pass in an empty map
      proximity: vec![],
      center_of_mass: vec![0.0,0.0,0.0] // Ignored, so just pass in a 3-vector of zeros
);

let mut new_weights: HashMap<String,f64> = HashMap::new();
new_weights.insert(
  "myObjective".into(),
  0.5
);

solver.reset(
  new_state,
  new_weights
);