void Solution::dump() { computeCosts(); std::cout << "Solution: totalDistance: " << totalDistance << ", totalCost: " << totalCost << std::endl << "Routes:" << std::endl; for (int i=0; i<R.size(); i++) R[i].dump(); std::cout << "mapOtoR: "; for (int i=0; i<mapOtoR.size(); i++) { if (i) std::cout << ", "; std::cout << mapOtoR[i]; } std::cout << std::endl; }
bool StompOptimizationTask::execute(std::vector<Eigen::VectorXd>& parameters, std::vector<Eigen::VectorXd>& projected_parameters, Eigen::VectorXd& costs, Eigen::MatrixXd& weighted_feature_values, const int iteration_number, const int rollout_number, int thread_id, bool compute_gradients, std::vector<Eigen::VectorXd>& gradients, bool& validity) { int rollout_id = num_rollouts_; if (rollout_number >= 0) { rollout_id = rollout_number; last_executed_rollout_ = rollout_number; } computeFeatures(parameters, rollout_id, validity); computeCosts(trajectories_[rollout_id]->features_, costs, weighted_feature_values); return true; }