aikido::robot::util Namespace Reference

Classes
struct	CRRTPlannerParameters
struct	PlanToTSRParameters
struct	VectorFieldPlannerParameters
	Paramters for Vector Field Planner. More...

Functions
std::unordered_map< std::string, const Eigen::VectorXd >	parseYAMLToNamedConfigurations (const YAML::Node &node)
	Parses YAML node for named configurtaions. More...
bool	getGoalAndConstraintTSRForEndEffectorOffset (const dart::dynamics::BodyNodePtr &bodyNode, const Eigen::Vector3d &direction, double distance, const constraint::dart::TSRPtr &goal, const constraint::dart::TSRPtr &constraint, double positionTolerance=1e-3, double angularTolerance=1e-3)
	Gets Goal and Constraint TSR for end-effector. More...
Eigen::Isometry3d	getLookAtIsometry (const Eigen::Vector3d &positionFrom, const Eigen::Vector3d &positionTo)
	Get a pose at a point looking at another point. More...
const dart::dynamics::BodyNode *	getBodyNodeOrThrow (const dart::dynamics::MetaSkeleton &skeleton, const std::string &bodyNodeName)
	Get a specific BodyNode of a MetaSkeleton or throw an execption if it doesn't exist. More...
dart::dynamics::BodyNode *	getBodyNodeOrThrow (dart::dynamics::MetaSkeleton &skeleton, const std::string &bodyNodeName)
	Get a specific BodyNode of a MetaSkeleton or throw an execption if it doesn't exist. More...
std::set< std::string >	dofNamesFromSkeleton (const dart::dynamics::MetaSkeletonPtr &skeleton)
	Get a set of degree-of-freedom names from MetaSkeleton. More...

Variables
const std::vector< double >	defaultVFParams
	Default Vector Field Planner Parameters Suitable for ADA-robot end-effector movements. More...

Function Documentation

dofNamesFromSkeleton()

std::set<std::string> aikido::robot::util::dofNamesFromSkeleton ( const dart::dynamics::MetaSkeletonPtr &  skeleton )

inline

Get a set of degree-of-freedom names from MetaSkeleton.

Parameters

[in]

skeleton

MetaSkeleton pointer

Returns

A set of DoFs with skeleton->getNumDofs() elements

getBodyNodeOrThrow() [1/2]

const dart::dynamics::BodyNode* aikido::robot::util::getBodyNodeOrThrow	(	const dart::dynamics::MetaSkeleton &	skeleton,
		const std::string &	bodyNodeName
	)

Get a specific BodyNode of a MetaSkeleton or throw an execption if it doesn't exist.

Parameters

[in]	skeleton	MetaSkeleton that should contain the BodyNode
[in]	bodyNodeName	Name of the BodyNode we are looking for

Returns

The BodyNode

getBodyNodeOrThrow() [2/2]

dart::dynamics::BodyNode* aikido::robot::util::getBodyNodeOrThrow	(	dart::dynamics::MetaSkeleton &	skeleton,
		const std::string &	bodyNodeName
	)

Get a specific BodyNode of a MetaSkeleton or throw an execption if it doesn't exist.

Parameters

[in]	skeleton	MetaSkeleton that should contain the BodyNode
[in]	bodyNodeName	Name of the BodyNode we are looking for

Returns

The BodyNode

getGoalAndConstraintTSRForEndEffectorOffset()

bool aikido::robot::util::getGoalAndConstraintTSRForEndEffectorOffset	(	const dart::dynamics::BodyNodePtr &	bodyNode,
		const Eigen::Vector3d &	direction,
		double	distance,
		const constraint::dart::TSRPtr &	goal,
		const constraint::dart::TSRPtr &	constraint,
		double	positionTolerance = 1e-3,
		double	angularTolerance = 1e-3
	)

Gets Goal and Constraint TSR for end-effector.

Parameters

[in]	bodyNode	End-effector body node
[in]	direction	End-effector direction
[in]	distance	Offset to move
[out]	goal	Goal TSR
[out]	constraint	Constraint TSR
[in]	positionTolerance	Tolerance in position, used in TSR
[in]	angularTolerance	Tolerance in angle, used in TSR

Returns

True if all outputs are successfully made.

getLookAtIsometry()

Eigen::Isometry3d aikido::robot::util::getLookAtIsometry	(	const Eigen::Vector3d &	positionFrom,
		const Eigen::Vector3d &	positionTo
	)

Get a pose at a point looking at another point.

Parameters

[in]	positionFrom	Position to look from
[in]	positionTo	Position to look to

Returns

Pose at positionFrom, looking at positionTo.

parseYAMLToNamedConfigurations()

std::unordered_map<std::string, const Eigen::VectorXd> aikido::robot::util::parseYAMLToNamedConfigurations

(

const YAML::Node &

node

)

Parses YAML node for named configurtaions.

Parameters

[in]

node

YAML node containing named configurations

Returns

Unordered map of (name, configuration) pairs.

Variable Documentation

defaultVFParams

const std::vector<double> aikido::robot::util::defaultVFParams

Initial value:

{
    0.03,  
    0.004, 
    0.01,  
    0.01,  
    1e-3,  
    1e-3,  
    1.5,   
    0.01,  
    1.0    
}

Default Vector Field Planner Parameters Suitable for ADA-robot end-effector movements.