aikido::constraint::CartesianProductTestable Class Reference

Testable for CompoundStates. More...

#include <aikido/constraint/CartesianProductTestable.hpp>

Inheritance diagram for aikido::constraint::CartesianProductTestable:

Public Member Functions
	CartesianProductTestable (std::shared_ptr< const statespace::CartesianProduct > _stateSpace, std::vector< ConstTestablePtr > _constraints)
	Constructor. More...
statespace::ConstStateSpacePtr	getStateSpace () const override
	Returns StateSpace in which this constraint operates. More...
bool	isSatisfied (const aikido::statespace::StateSpace::State *_state, TestableOutcome *outcome=nullptr) const override
	Returns true if state satisfies this constraint. More...
std::unique_ptr< TestableOutcome >	createOutcome () const override
	Return an instance of DefaultTestableOutcome, since this class doesn't have a more specialized TestableOutcome derivative assigned to it. More...
Public Member Functions inherited from aikido::constraint::Testable
virtual	~Testable ()=default

Private Attributes
std::shared_ptr< const statespace::CartesianProduct >	mStateSpace
std::vector< ConstTestablePtr >	mConstraints

Detailed Description

Testable for CompoundStates.

It takes in a set of Testables and test i-th substate on the i-th Testable.

Constructor & Destructor Documentation

CartesianProductTestable()

aikido::constraint::CartesianProductTestable::CartesianProductTestable	(	std::shared_ptr< const statespace::CartesianProduct >	_stateSpace,
		std::vector< ConstTestablePtr >	_constraints
	)

Constructor.

Parameters

_stateSpace	StateSpace in which this constraint operates.
_constraints	Set of testables. The size of _constraints should match the number of subspaces in _stateSpace. i-th constraint applies to i-th subspace.

Member Function Documentation

createOutcome()

std::unique_ptr<TestableOutcome> aikido::constraint::CartesianProductTestable::createOutcome ( ) const

overridevirtual

Return an instance of DefaultTestableOutcome, since this class doesn't have a more specialized TestableOutcome derivative assigned to it.

Implements aikido::constraint::Testable.

getStateSpace()

statespace::ConstStateSpacePtr aikido::constraint::CartesianProductTestable::getStateSpace ( ) const

overridevirtual

Returns StateSpace in which this constraint operates.

Implements aikido::constraint::Testable.

isSatisfied()

bool aikido::constraint::CartesianProductTestable::isSatisfied ( const aikido::statespace::StateSpace::State *  _state, TestableOutcome *  outcome = nullptr  ) const

overridevirtual

Returns true if state satisfies this constraint.

Parameters

[in]	_state	given state to test.
[in]	outcome	pointer to TestableOutcome derivative instance that method will populate with useful information. Each derivative class of Testable may expect outcome to be a different derivative class of TestableOutcome (this casting and population is done under the hood). If this argument is missing, it is ignored.

Implements aikido::constraint::Testable.

Member Data Documentation

mConstraints

std::vector<ConstTestablePtr> aikido::constraint::CartesianProductTestable::mConstraints

private

mStateSpace

std::shared_ptr<const statespace::CartesianProduct> aikido::constraint::CartesianProductTestable::mStateSpace

private