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;
}
