aikido::planner::dart::ConfigurationToEndEffectorPose Class Reference

Planning problem to plan to a desired end-effector pose. More...

#include <aikido/planner/dart/ConfigurationToEndEffectorPose.hpp>

Inheritance diagram for aikido::planner::dart::ConfigurationToEndEffectorPose:

Public Member Functions
	ConfigurationToEndEffectorPose (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, ::dart::dynamics::ConstMetaSkeletonPtr metaSkeleton, ::dart::dynamics::ConstBodyNodePtr endEffectorBodyNode, const Eigen::Isometry3d &goalPose, constraint::ConstTestablePtr constraint=nullptr)
	Constructor. More...
	ConfigurationToEndEffectorPose (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, const statespace::dart::MetaSkeletonStateSpace::State *startState, ::dart::dynamics::ConstBodyNodePtr endEffectorBodyNode, const Eigen::Isometry3d &goalPose, constraint::ConstTestablePtr constraint=nullptr)
	Constructor. More...
const std::string &	getType () const override
	Returns type of this planning problem. More...
::dart::dynamics::ConstBodyNodePtr	getEndEffectorBodyNode () const
	Returns the end-effector BodyNode to be planned to move to a desired pose. More...
const statespace::dart::MetaSkeletonStateSpace::State *	getStartState () const
	Return the start state to plan from, either set on construction or taken from the current state of the MetaSkeleton. More...
const Eigen::Isometry3d &	getGoalPose () const
	Returns the goal pose. More...
Public Member Functions inherited from aikido::planner::Problem
	Problem (statespace::ConstStateSpacePtr stateSpace, constraint::ConstTestablePtr constraint=nullptr)
	Constructor. More...
virtual	~Problem ()=default
	Destructor. More...
statespace::ConstStateSpacePtr	getStateSpace () const
	Returns const state space. More...
constraint::ConstTestablePtr	getConstraint () const
	Returns the constraint that must be satisfied throughout the trajectory. More...

Static Public Member Functions
static const std::string &	getStaticType ()
	Returns the type of the planning problem. More...

Protected Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW statespace::dart::ConstMetaSkeletonStateSpacePtr	mMetaSkeletonStateSpace
	MetaSkeletonStateSpace. More...
::dart::dynamics::ConstMetaSkeletonPtr	mMetaSkeleton
	MetaSkeleton, if given. More...
statespace::dart::MetaSkeletonStateSpace::ScopedState	mStartState
	Start state, if set on construction. More...
const ::dart::dynamics::ConstBodyNodePtr	mEndEffectorBodyNode
	End-effector body node. More...
const Eigen::Isometry3d	mGoalPose
	Goal pose. More...
Protected Attributes inherited from aikido::planner::Problem
statespace::ConstStateSpacePtr	mStateSpace
	State space associated with this problem. More...
constraint::ConstTestablePtr	mConstraint
	Trajectory-wide constraint that must be satisfied. More...

Detailed Description

Planning problem to plan to a desired end-effector pose.

Constructor & Destructor Documentation

ConfigurationToEndEffectorPose() [1/2]

aikido::planner::dart::ConfigurationToEndEffectorPose::ConfigurationToEndEffectorPose	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	stateSpace,
		::dart::dynamics::ConstMetaSkeletonPtr	metaSkeleton,
		::dart::dynamics::ConstBodyNodePtr	endEffectorBodyNode,
		const Eigen::Isometry3d &	goalPose,
		constraint::ConstTestablePtr	constraint = nullptr
	)

Constructor.

Note that this constructor takes the start state from the current state of the passed MetaSkeleton.

Parameters

[in]	stateSpace	State space.
[in]	metaSkeleton	MetaSkeleton that getStartState will return the current state of when called.
[in]	endEffectorBodyNode	BodyNode to be planned to move to a desired pose.
[in]	goalPose	Goal pose.

Exceptions

If	stateSpace is not compatible with constraint's state space.

ConfigurationToEndEffectorPose() [2/2]

aikido::planner::dart::ConfigurationToEndEffectorPose::ConfigurationToEndEffectorPose	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	stateSpace,
		const statespace::dart::MetaSkeletonStateSpace::State *	startState,
		::dart::dynamics::ConstBodyNodePtr	endEffectorBodyNode,
		const Eigen::Isometry3d &	goalPose,
		constraint::ConstTestablePtr	constraint = nullptr
	)

Constructor.

Note that this constructor sets the start state on construction.

Parameters

[in]	stateSpace	State space.
[in]	startState	Start state to plan from.
[in]	endEffectorBodyNode	BodyNode to be planned to move to a desired pose.
[in]	goalPose	Goal pose.

Exceptions

If	stateSpace is not compatible with constraint's state space.

Member Function Documentation

getEndEffectorBodyNode()

::dart::dynamics::ConstBodyNodePtr aikido::planner::dart::ConfigurationToEndEffectorPose::getEndEffectorBodyNode

(

)

const

Returns the end-effector BodyNode to be planned to move to a desired pose.

getGoalPose()

const Eigen::Isometry3d& aikido::planner::dart::ConfigurationToEndEffectorPose::getGoalPose

(

)

const

Returns the goal pose.

getStartState()

const statespace::dart::MetaSkeletonStateSpace::State* aikido::planner::dart::ConfigurationToEndEffectorPose::getStartState

(

)

const

Return the start state to plan from, either set on construction or taken from the current state of the MetaSkeleton.

getStaticType()

static const std::string& aikido::planner::dart::ConfigurationToEndEffectorPose::getStaticType ( )

static

Returns the type of the planning problem.

getType()

const std::string& aikido::planner::dart::ConfigurationToEndEffectorPose::getType ( ) const

overridevirtual

Returns type of this planning problem.

Implements aikido::planner::Problem.

Member Data Documentation

mEndEffectorBodyNode

const ::dart::dynamics::ConstBodyNodePtr aikido::planner::dart::ConfigurationToEndEffectorPose::mEndEffectorBodyNode

protected

End-effector body node.

mGoalPose

const Eigen::Isometry3d aikido::planner::dart::ConfigurationToEndEffectorPose::mGoalPose

protected

Goal pose.

mMetaSkeleton

::dart::dynamics::ConstMetaSkeletonPtr aikido::planner::dart::ConfigurationToEndEffectorPose::mMetaSkeleton

protected

MetaSkeleton, if given.

mMetaSkeletonStateSpace

EIGEN_MAKE_ALIGNED_OPERATOR_NEW statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::planner::dart::ConfigurationToEndEffectorPose::mMetaSkeletonStateSpace

protected

MetaSkeletonStateSpace.

Prevents use of expensive dynamic cast on mStateSpace.

mStartState

statespace::dart::MetaSkeletonStateSpace::ScopedState aikido::planner::dart::ConfigurationToEndEffectorPose::mStartState

protected

Start state, if set on construction.