Robot base class for defining basic behaviors common to most robots. More...

#include <aikido/robot/Robot.hpp>

Inheritance diagram for aikido::robot::Robot:

Public Member Functions
	Robot (dart::dynamics::SkeletonPtr skeleton, const std::string name="robot", bool addDefaultExecutors=true)
	Construct a new Robot object. More...

	Robot (dart::dynamics::ReferentialSkeletonPtr refSkeleton, Robot *rootRobot, dart::collision::CollisionDetectorPtr collisionDetector, std::shared_ptr< dart::collision::BodyNodeCollisionFilter > collisionFilter, const std::string name="subrobot")
	Construct a new Robot as subrobot. More...

virtual	~Robot ()=default
	Destructor. More...

virtual void	ignoreSelfCollisionPairs (const std::vector< std::pair< std::string, std::string >> bodyNodeList)
	Manually add pairs of body nodes for which collision is ignored Note: adjacent body pairs are already ignored. More...

virtual void	enforceSelfCollisionPairs (const std::vector< std::pair< std::string, std::string >> bodyNodeList)
	Manually remove pairs of body nodes for which collision constraints are enforced. More...

virtual void	step (const std::chrono::system_clock::time_point &timepoint)
	Steps the robot (and underlying executors and subrobots) through time. More...

constraint::dart::CollisionFreePtr	getSelfCollisionConstraint () const
	Get the self-collision constraint of the robot. More...

constraint::TestablePtr	combineCollisionConstraint (const constraint::dart::CollisionFreePtr &collisionFree) const
	Given a collision constraint, returns it combined with the self-collision constraint of the entire robot. More...

constraint::TestablePtr	getWorldCollisionConstraint (const std::vector< std::string > bodyNames=std::vector< std::string >()) const
	Get the collision constraint between this (sub)robot and selected bodies within its World, combined with its self-collision constraint. More...

virtual RobotPtr	registerSubRobot (dart::dynamics::ReferentialSkeletonPtr refSkeleton, const std::string &name)
	Registers a subset of the joints of the skeleton as a new robot. More...

RobotPtr	getSubRobotByName (const std::string &name) const
	Get existing subrobot pointer. More...

Eigen::VectorXd	getNamedConfiguration (const std::string &name) const
	Returns a named configuration, or size-0 vector if not found. More...

void	setNamedConfigurations (std::unordered_map< std::string, const Eigen::VectorXd > namedConfigurations)
	Sets the list of named configurations. More...

trajectory::TrajectoryPtr	planToConfiguration (const Eigen::VectorXd &goalConf, const constraint::TestablePtr &testableConstraint, const std::shared_ptr< planner::ConfigurationToConfigurationPlanner > &planner=nullptr, const std::shared_ptr< aikido::planner::TrajectoryPostProcessor > trajPostProcessor=nullptr) const
	Plan the robot to a specific configuration. More...

trajectory::TrajectoryPtr	planToConfiguration (const Eigen::VectorXd &goalConf, const std::shared_ptr< planner::ConfigurationToConfigurationPlanner > &planner=nullptr, const std::shared_ptr< aikido::planner::TrajectoryPostProcessor > trajPostProcessor=nullptr) const
	Default to selfCollisionConstraint. More...

trajectory::TrajectoryPtr	planToOffset (const std::string bodyNodeName, const Eigen::Vector3d &offset, const constraint::TestablePtr &testableConstraint, const std::shared_ptr< planner::dart::ConfigurationToEndEffectorOffsetPlanner > &planner=nullptr, const std::shared_ptr< aikido::planner::TrajectoryPostProcessor > trajPostProcessor=nullptr) const
	Plan a specific body node of the robot to a position offset. More...

trajectory::TrajectoryPtr	planToOffset (const std::string bodyNodeName, const Eigen::Vector3d &offset, const std::shared_ptr< planner::dart::ConfigurationToEndEffectorOffsetPlanner > &planner=nullptr, const std::shared_ptr< aikido::planner::TrajectoryPostProcessor > trajPostProcessor=nullptr) const
	Default to selfCollisionConstraint. More...

trajectory::TrajectoryPtr	planToPoseOffset (const std::string bodyNodeName, const Eigen::Vector3d &offset, const Eigen::Vector3d &rotation, const constraint::TestablePtr &testableConstraint, const std::shared_ptr< planner::dart::ConfigurationToEndEffectorPosePlanner > &planner=nullptr, const std::shared_ptr< aikido::planner::TrajectoryPostProcessor > trajPostProcessor=nullptr) const
	Plan a specific body node of the robot to a pose offset (i.e. More...

trajectory::TrajectoryPtr	planToPoseOffset (const std::string bodyNodeName, const Eigen::Vector3d &offset, const Eigen::Vector3d &rotation, const std::shared_ptr< planner::dart::ConfigurationToEndEffectorPosePlanner > &planner=nullptr, const std::shared_ptr< aikido::planner::TrajectoryPostProcessor > trajPostProcessor=nullptr) const
	Default to selfCollisionConstraint. More...

trajectory::TrajectoryPtr	planToTSR (const std::string bodyNodeName, const constraint::dart::TSRPtr &tsr, const constraint::TestablePtr &testableConstraint, const util::PlanToTSRParameters &params=util::PlanToTSRParameters(), const std::shared_ptr< planner::ConfigurationToConfigurationPlanner > &planner=nullptr, const std::shared_ptr< aikido::planner::TrajectoryPostProcessor > trajPostProcessor=nullptr, const distance::ConstConfigurationRankerPtr &ranker=nullptr) const
	Plan a specific body node of the robot to a sample configuraiton within a Task Space Region. More...

trajectory::TrajectoryPtr	planToTSR (const std::string bodyNodeName, const constraint::dart::TSRPtr &tsr, const util::PlanToTSRParameters &params=util::PlanToTSRParameters(), const std::shared_ptr< planner::ConfigurationToConfigurationPlanner > &planner=nullptr, const std::shared_ptr< aikido::planner::TrajectoryPostProcessor > trajPostProcessor=nullptr, const distance::ConstConfigurationRankerPtr &ranker=nullptr) const
	Default to selfCollisionConstraint. More...

virtual void	clearExecutors ()
	Deactivates the active executor. More...

virtual void	deactivateExecutor ()
	Deactivates the active executor. More...

virtual aikido::control::ExecutorPtr	getActiveExecutor ()
	Retrieves the active executor. More...

virtual int	registerExecutor (aikido::control::ExecutorPtr executor, std::string desiredName="")
	Add an executor to the inactive executors list. More...

virtual bool	activateExecutor (const int id)
	Deactivates the current active executor. More...

virtual bool	activateExecutor (const std::string name)
	Convenience: Activates executor using name Deactivates the current active executor. More...

virtual bool	activateExecutor (const aikido::control::ExecutorType type)
	Convenience: Deactivates the current active executor. More...

template<aikido::control::ExecutorType T>
std::future< int >	executeJointCommand (const std::vector< double > &command, const std::chrono::duration< double > &timeout)
	Convenience: executes given joint command on the robot. More...

std::future< void >	executeTrajectory (const trajectory::TrajectoryPtr &trajectory)
	Convenience: executes given trajectory on the robot. More...

virtual void	cancelAllCommands (bool includeSubrobots=true, bool includeParents=false, const std::vector< std::string > excludeSubrobots=std::vector< std::string >())
	Cancels all running commands on this robot. More...

std::string	getName () const

dart::dynamics::MetaSkeletonPtr	getMetaSkeletonClone () const

dart::dynamics::MetaSkeletonPtr	getMetaSkeleton ()

const dart::dynamics::MetaSkeletonPtr	getMetaSkeleton () const

Eigen::VectorXd	getCurrentConfiguration () const

common::UniqueRNGPtr	cloneRNG () const

void	setRNG (common::UniqueRNGPtr rng)

aikido::planner::WorldPtr	getWorld () const

void	setWorld (aikido::planner::WorldPtr world)

void	setDefaultPostProcessor (const std::shared_ptr< aikido::planner::TrajectoryPostProcessor > trajPostProcessor)

std::shared_ptr< aikido::planner::TrajectoryPostProcessor >	getDefaultPostProcessor () const

void	setEnablePostProcessing (bool enable=true)

dart::dynamics::ConstSkeletonPtr	getRootSkeleton () const

dart::dynamics::SkeletonPtr	getRootSkeleton ()

util::VectorFieldPlannerParameters	getVFParams () const

void	setVFParams (util::VectorFieldPlannerParameters params)

Protected Types
using	ConfigurationMap = std::unordered_map< std::string, const Eigen::VectorXd >

Protected Member Functions
virtual bool	validateSubRobot (dart::dynamics::ReferentialSkeletonPtr refSkeleton, const std::string &name)
	Checks validity of subrobot for registration: name should be unique. More...

Protected Attributes
std::string	mName

dart::dynamics::MetaSkeletonPtr	mMetaSkeleton

aikido::statespace::dart::MetaSkeletonStateSpacePtr	mStateSpace

int	mActiveExecutor {-1}

std::vector< aikido::control::ExecutorPtr >	mExecutors

std::unordered_map< std::string, int >	mExecutorsNameMap

Robot *	mParentRobot {nullptr}

std::set< std::string >	mDofs

std::unordered_map< std::string, RobotPtr >	mSubRobots

dart::collision::CollisionDetectorPtr	mCollisionDetector

std::shared_ptr< dart::collision::BodyNodeCollisionFilter >	mSelfCollisionFilter

bool	mEnablePostProcessing {false}

std::shared_ptr< aikido::planner::TrajectoryPostProcessor >	mDefaultPostProcessor {nullptr}

std::unique_ptr< common::RNG >	mRng

aikido::planner::WorldPtr	mWorld {nullptr}

ConfigurationMap	mNamedConfigurations

util::VectorFieldPlannerParameters	mVFParams

Detailed Description

Robot base class for defining basic behaviors common to most robots.

Member Typedef Documentation

◆ ConfigurationMap

using aikido::robot::Robot::ConfigurationMap = std::unordered_map<std::string, const Eigen::VectorXd>

protected

Constructor & Destructor Documentation

◆ Robot() [1/2]

aikido::robot::Robot::Robot	(	dart::dynamics::SkeletonPtr	skeleton,
		const std::string	name = `"robot"`,
		bool	addDefaultExecutors = `true`
	)

Construct a new Robot object.

Parameters

[in]	skeleton	The skeleton defining the robot.
[in]	name	The name of the robot.
[in]	addDefaultExecutors	if true, adds the following: KinematicSimulationTrajectoryExecutor (active) KinematicSimulationPositionExecutor (inactive) KinematicSimulationVelocityExecutor (inactive)

◆ Robot() [2/2]

aikido::robot::Robot::Robot	(	dart::dynamics::ReferentialSkeletonPtr	refSkeleton,
		Robot *	rootRobot,
		dart::collision::CollisionDetectorPtr	collisionDetector,
		std::shared_ptr< dart::collision::BodyNodeCollisionFilter >	collisionFilter,
		const std::string	name = `"subrobot"`
	)

Construct a new Robot as subrobot.

Parameters

[in]	refSkeleton	The metaskeleton defining the robot.
[in]	rootRobot	Pointer to parent robot
[in]	collisionDetector	Parent robot's collision detector
[in]	collisionFilter	Parent robot's collision filter
[in]	name	Unique Name of sub-robot

◆ ~Robot()

virtual aikido::robot::Robot::~Robot ( )

virtualdefault

Destructor.

Member Function Documentation

◆ activateExecutor() [1/3]

virtual bool aikido::robot::Robot::activateExecutor ( const aikido::control::ExecutorType type )

virtual

Convenience: Deactivates the current active executor.

Activates the most recently registered executor of the given type.

Parameters

[in] type of executor to activate.

Returns: True if successful. If false, all executors are inactive.

◆ activateExecutor() [2/3]

virtual bool aikido::robot::Robot::activateExecutor ( const int id )

virtual

Deactivates the current active executor.

Sets an executor from the inactive executor list to be the active executor. Holds and releases DoFs as needed.

Parameters

[in] id of executor on executor list

Returns: True if successful. If false, all executors are inactive.

Reimplemented in aikido::robot::ros::RosRobot.

◆ activateExecutor() [3/3]

virtual bool aikido::robot::Robot::activateExecutor ( const std::string name )

virtual

Convenience: Activates executor using name Deactivates the current active executor.

Sets an executor from the inactive executor list to be the active executor. Holds and releases DoFs as needed.

Parameters

[in] id of executor on executor list

Returns: True if successful. If false, all executors are inactive.

◆ cancelAllCommands()

virtual void aikido::robot::Robot::cancelAllCommands	(	bool	includeSubrobots = `true`,
		bool	includeParents = `false`,
		const std::vector< std::string >	excludeSubrobots = `std::vector< std::string >()`
	)

virtual

Cancels all running commands on this robot.

Parameters

[in]	includeSubrobots	Also cancel commands on all subrobots.
[in]	includeParents	Also cancel commands on parent robots
[in]	excludedSubrobots	Ignores theese subrobots when issuing cancellations

◆ clearExecutors()

virtual void aikido::robot::Robot::clearExecutors ( )

virtual

Deactivates the active executor.

Clears the inactive executor list. Forgets all unique id.

◆ cloneRNG()

common::UniqueRNGPtr aikido::robot::Robot::cloneRNG ( ) const

◆ combineCollisionConstraint()

constraint::TestablePtr aikido::robot::Robot::combineCollisionConstraint ( const constraint::dart::CollisionFreePtr & collisionFree ) const

Given a collision constraint, returns it combined with the self-collision constraint of the entire robot.

Parameters

[in] collisionFree The collision constraint that is to be tied with root robot's self-collision constraint.

◆ deactivateExecutor()

virtual void aikido::robot::Robot::deactivateExecutor ( )

virtual

Deactivates the active executor.

Reimplemented in aikido::robot::ros::RosRobot.

◆ enforceSelfCollisionPairs()

virtual void aikido::robot::Robot::enforceSelfCollisionPairs ( const std::vector< std::pair< std::string, std::string >> bodyNodeList )

virtual

Manually remove pairs of body nodes for which collision constraints are enforced.

Note: adjacent body pairs start ignored.

Parameters

[in] bodyNodeList list of pairs of body node names

◆ executeJointCommand()

template<aikido::control::ExecutorType T>

std::future< int > aikido::robot::Robot::executeJointCommand	(	const std::vector< double > &	command,
		const std::chrono::duration< double > &	timeout
	)

Convenience: executes given joint command on the robot.

future will have exception if active executor is not of the appropriate type.

Parameters

[in]	type	Type of JointCommandExecutor to look for.
[in]	command	The joint command to execute.
[in]	timeout	Timeout for the joint command

◆ executeTrajectory()

std::future<void> aikido::robot::Robot::executeTrajectory ( const trajectory::TrajectoryPtr & trajectory )

Convenience: executes given trajectory on the robot.

future will have exception if active executor is not of type TrajectoryExecutor

Parameters

[in] trajectory The trajectory to execute.

◆ getActiveExecutor()

virtual aikido::control::ExecutorPtr aikido::robot::Robot::getActiveExecutor ( )

virtual

Retrieves the active executor.

◆ getCurrentConfiguration()

Eigen::VectorXd aikido::robot::Robot::getCurrentConfiguration ( ) const

◆ getDefaultPostProcessor()

std::shared_ptr<aikido::planner::TrajectoryPostProcessor> aikido::robot::Robot::getDefaultPostProcessor ( ) const

◆ getMetaSkeleton() [1/2]

dart::dynamics::MetaSkeletonPtr aikido::robot::Robot::getMetaSkeleton ( )

◆ getMetaSkeleton() [2/2]

const dart::dynamics::MetaSkeletonPtr aikido::robot::Robot::getMetaSkeleton ( ) const

◆ getMetaSkeletonClone()

dart::dynamics::MetaSkeletonPtr aikido::robot::Robot::getMetaSkeletonClone ( ) const

◆ getName()

std::string aikido::robot::Robot::getName ( ) const

◆ getNamedConfiguration()

Eigen::VectorXd aikido::robot::Robot::getNamedConfiguration ( const std::string & name ) const

Returns a named configuration, or size-0 vector if not found.

Parameters

[in] name Name of the configuration.

◆ getRootSkeleton() [1/2]

dart::dynamics::SkeletonPtr aikido::robot::Robot::getRootSkeleton ( )

◆ getRootSkeleton() [2/2]

dart::dynamics::ConstSkeletonPtr aikido::robot::Robot::getRootSkeleton ( ) const

◆ getSelfCollisionConstraint()

constraint::dart::CollisionFreePtr aikido::robot::Robot::getSelfCollisionConstraint ( ) const

Get the self-collision constraint of the robot.

◆ getSubRobotByName()

RobotPtr aikido::robot::Robot::getSubRobotByName ( const std::string & name ) const

Get existing subrobot pointer.

Or nullptr if not found.

Parameters

[in] name Name of the subrobot.

◆ getVFParams()

util::VectorFieldPlannerParameters aikido::robot::Robot::getVFParams ( ) const

◆ getWorld()

aikido::planner::WorldPtr aikido::robot::Robot::getWorld ( ) const

◆ getWorldCollisionConstraint()

constraint::TestablePtr aikido::robot::Robot::getWorldCollisionConstraint ( const std::vector< std::string > bodyNames = std::vector< std::string >() ) const

Get the collision constraint between this (sub)robot and selected bodies within its World, combined with its self-collision constraint.

Parameters

[in] bodyNames Names of the bodies in the robot's world to check collision with. Leave blank to check with all non-robot bodies.

◆ ignoreSelfCollisionPairs()

virtual void aikido::robot::Robot::ignoreSelfCollisionPairs ( const std::vector< std::pair< std::string, std::string >> bodyNodeList )

virtual

Manually add pairs of body nodes for which collision is ignored Note: adjacent body pairs are already ignored.

Parameters

[in] bodyNodeList list of pairs of body node names

◆ planToConfiguration() [1/2]

trajectory::TrajectoryPtr aikido::robot::Robot::planToConfiguration	(	const Eigen::VectorXd &	goalConf,
		const constraint::TestablePtr &	testableConstraint,
		const std::shared_ptr< planner::ConfigurationToConfigurationPlanner > &	planner = `nullptr`,
		const std::shared_ptr< aikido::planner::TrajectoryPostProcessor >	trajPostProcessor = `nullptr`
	)		const

Plan the robot to a specific configuration.

Parameters

[in]	goalConf	Goal configuration Returns nullptr if not in robot's statespace.
[in]	testableConstraint	Planning (e.g. collision) constraints, set to nullptr for no constraints (not recommended)
[in]	planner	Configuration planner, defaults to Snap Planner

◆ planToConfiguration() [2/2]

trajectory::TrajectoryPtr aikido::robot::Robot::planToConfiguration	(	const Eigen::VectorXd &	goalConf,
		const std::shared_ptr< planner::ConfigurationToConfigurationPlanner > &	planner = `nullptr`,
		const std::shared_ptr< aikido::planner::TrajectoryPostProcessor >	trajPostProcessor = `nullptr`
	)		const

Default to selfCollisionConstraint.

◆ planToOffset() [1/2]

trajectory::TrajectoryPtr aikido::robot::Robot::planToOffset	(	const std::string	bodyNodeName,
		const Eigen::Vector3d &	offset,
		const constraint::TestablePtr &	testableConstraint,
		const std::shared_ptr< planner::dart::ConfigurationToEndEffectorOffsetPlanner > &	planner = `nullptr`,
		const std::shared_ptr< aikido::planner::TrajectoryPostProcessor >	trajPostProcessor = `nullptr`
	)		const

Plan a specific body node of the robot to a position offset.

Parameters

[in]	bodyNodeName	Bodynode (usually the end effector) to offset
[in]	offset	Position offset in R^3
[in]	testableConstraint	Planning (e.g. collision) constraints, set to nullptr for no constraints (not recommended)
[in]	planner	Configuration-to-Offset planner, defaults to VectorFieldConfigurationToEndEffectorOffsetPlanner with robot::util::defaultVFParams

◆ planToOffset() [2/2]

trajectory::TrajectoryPtr aikido::robot::Robot::planToOffset	(	const std::string	bodyNodeName,
		const Eigen::Vector3d &	offset,
		const std::shared_ptr< planner::dart::ConfigurationToEndEffectorOffsetPlanner > &	planner = `nullptr`,
		const std::shared_ptr< aikido::planner::TrajectoryPostProcessor >	trajPostProcessor = `nullptr`
	)		const

Default to selfCollisionConstraint.

◆ planToPoseOffset() [1/2]

trajectory::TrajectoryPtr aikido::robot::Robot::planToPoseOffset	(	const std::string	bodyNodeName,
		const Eigen::Vector3d &	offset,
		const Eigen::Vector3d &	rotation,
		const constraint::TestablePtr &	testableConstraint,
		const std::shared_ptr< planner::dart::ConfigurationToEndEffectorPosePlanner > &	planner = `nullptr`,
		const std::shared_ptr< aikido::planner::TrajectoryPostProcessor >	trajPostProcessor = `nullptr`
	)		const

Plan a specific body node of the robot to a pose offset (i.e.

position offset + rotation).

Parameters

[in]	bodyNodeName	Bodynode (usually the end effector) to offset
[in]	offset	Translation in R^3 (world Frame)
[in]	rotation	Axis in R^3, norm is angle (world Frame)
[in]	testableConstraint	Planning (e.g. collision) constraints, set to nullptr for no constraints (not recommended)
[in]	planner	Configuration planner, defaults to VectorFieldConfigurationToEndEffectorOffsetPlanner with robot::util::defaultVFParams

◆ planToPoseOffset() [2/2]

trajectory::TrajectoryPtr aikido::robot::Robot::planToPoseOffset	(	const std::string	bodyNodeName,
		const Eigen::Vector3d &	offset,
		const Eigen::Vector3d &	rotation,
		const std::shared_ptr< planner::dart::ConfigurationToEndEffectorPosePlanner > &	planner = `nullptr`,
		const std::shared_ptr< aikido::planner::TrajectoryPostProcessor >	trajPostProcessor = `nullptr`
	)		const

Default to selfCollisionConstraint.

◆ planToTSR() [1/2]

trajectory::TrajectoryPtr aikido::robot::Robot::planToTSR	(	const std::string	bodyNodeName,
		const constraint::dart::TSRPtr &	tsr,
		const constraint::TestablePtr &	testableConstraint,
		const util::PlanToTSRParameters &	params = `util::PlanToTSRParameters()`,
		const std::shared_ptr< planner::ConfigurationToConfigurationPlanner > &	planner = `nullptr`,
		const std::shared_ptr< aikido::planner::TrajectoryPostProcessor >	trajPostProcessor = `nullptr`,
		const distance::ConstConfigurationRankerPtr &	ranker = `nullptr`
	)		const

Plan a specific body node of the robot to a sample configuraiton within a Task Space Region.

Parameters

[in]	bodyNodeName	Bodynode (usually the end effector) whose frame should end up in the TSR.
[in]	tsr

See also: constraint::dart::TSR

Parameters

[in]	testableConstraint	Planning (e.g. collision) constraints, set to nullptr for no constraints (not recommended)
[in]	maxSamplingTries	Maximum number of times for the sample generator to retry sampling from the TSR.
[in]	batchSize	Number of TSR samples to include per ranked batch.
[in]	maxBatches	Maximum number of ranked batches to run when planning to TSR samples.
[in]	planner	Base configuration planner, defaults to Snap Planner
[in]	ranker	Ranker to rank the sampled configurations. If nullptr, NominalConfigurationRanker is used with the current metaSkeleton pose.

Returns: Trajectory to a sample in TSR, or nullptr if planning fails.

◆ planToTSR() [2/2]

trajectory::TrajectoryPtr aikido::robot::Robot::planToTSR	(	const std::string	bodyNodeName,
		const constraint::dart::TSRPtr &	tsr,
		const util::PlanToTSRParameters &	params = `util::PlanToTSRParameters()`,
		const std::shared_ptr< planner::ConfigurationToConfigurationPlanner > &	planner = `nullptr`,
		const std::shared_ptr< aikido::planner::TrajectoryPostProcessor >	trajPostProcessor = `nullptr`,
		const distance::ConstConfigurationRankerPtr &	ranker = `nullptr`
	)		const

Default to selfCollisionConstraint.

◆ registerExecutor()

virtual int aikido::robot::Robot::registerExecutor	(	aikido::control::ExecutorPtr	executor,
		std::string	desiredName = `""`
	)

virtual

Add an executor to the inactive executors list.

Releases DoFs held by executor if held.

Parameters

[in]	executor	The Executor to add to the inactive list.
[in]	desiredName	The desired name for the executor.

Returns: A robot-unique non-negative ID (negative implies failure).

◆ registerSubRobot()

virtual RobotPtr aikido::robot::Robot::registerSubRobot	(	dart::dynamics::ReferentialSkeletonPtr	refSkeleton,
		const std::string &	name
	)

virtual

Registers a subset of the joints of the skeleton as a new robot.

Must be disjoint from other subrobots.

Parameters

[in]	metaSkeleton	The referential skeleton corresponding to the subrobot.
[in]	name	Name of the subrobot.

◆ setDefaultPostProcessor()

void aikido::robot::Robot::setDefaultPostProcessor ( const std::shared_ptr< aikido::planner::TrajectoryPostProcessor > trajPostProcessor )

◆ setEnablePostProcessing()

void aikido::robot::Robot::setEnablePostProcessing ( bool enable = true )

◆ setNamedConfigurations()

void aikido::robot::Robot::setNamedConfigurations ( std::unordered_map< std::string, const Eigen::VectorXd > namedConfigurations )

Sets the list of named configurations.

Parameters

[in] namedConfigurations Map of name, configuration.

◆ setRNG()

void aikido::robot::Robot::setRNG ( common::UniqueRNGPtr rng )

◆ setVFParams()

void aikido::robot::Robot::setVFParams ( util::VectorFieldPlannerParameters params )

◆ setWorld()

void aikido::robot::Robot::setWorld ( aikido::planner::WorldPtr world )

◆ step()

virtual void aikido::robot::Robot::step ( const std::chrono::system_clock::time_point & timepoint )

virtual

Steps the robot (and underlying executors and subrobots) through time.

Call regularly to update the state of the robot.

Parameters

[in] timepoint The point in time to step to.

Reimplemented in aikido::robot::ros::RosRobot.

◆ validateSubRobot()

virtual bool aikido::robot::Robot::validateSubRobot	(	dart::dynamics::ReferentialSkeletonPtr	refSkeleton,
		const std::string &	name
	)

protectedvirtual

Checks validity of subrobot for registration: name should be unique.

All body nodes in skeleton should be owned by this robot. Subrobot DoFs should be disjoint.

Parameters

[in]	metaSkeleton	The referential skeleton corresponding to the subrobot.
[in]	name	Name of the subrobot.

Member Data Documentation

◆ mActiveExecutor

int aikido::robot::Robot::mActiveExecutor {-1}

protected

◆ mCollisionDetector

dart::collision::CollisionDetectorPtr aikido::robot::Robot::mCollisionDetector

protected

◆ mDefaultPostProcessor

std::shared_ptr<aikido::planner::TrajectoryPostProcessor> aikido::robot::Robot::mDefaultPostProcessor {nullptr}

protected

◆ mDofs

std::set<std::string> aikido::robot::Robot::mDofs

protected

◆ mEnablePostProcessing

bool aikido::robot::Robot::mEnablePostProcessing {false}

protected

◆ mExecutors

std::vector<aikido::control::ExecutorPtr> aikido::robot::Robot::mExecutors

protected

◆ mExecutorsNameMap

std::unordered_map<std::string, int> aikido::robot::Robot::mExecutorsNameMap

protected

◆ mMetaSkeleton

dart::dynamics::MetaSkeletonPtr aikido::robot::Robot::mMetaSkeleton

protected

◆ mName

std::string aikido::robot::Robot::mName

protected

◆ mNamedConfigurations

ConfigurationMap aikido::robot::Robot::mNamedConfigurations

protected

◆ mParentRobot

Robot* aikido::robot::Robot::mParentRobot {nullptr}

protected

◆ mRng

std::unique_ptr<common::RNG> aikido::robot::Robot::mRng

protected

◆ mSelfCollisionFilter

std::shared_ptr<dart::collision::BodyNodeCollisionFilter> aikido::robot::Robot::mSelfCollisionFilter

protected

◆ mStateSpace

aikido::statespace::dart::MetaSkeletonStateSpacePtr aikido::robot::Robot::mStateSpace

protected

◆ mSubRobots

std::unordered_map<std::string, RobotPtr> aikido::robot::Robot::mSubRobots

protected

◆ mVFParams

util::VectorFieldPlannerParameters aikido::robot::Robot::mVFParams

protected

◆ mWorld

aikido::planner::WorldPtr aikido::robot::Robot::mWorld {nullptr}

protected

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConfigurationMap

Constructor & Destructor Documentation

◆ Robot() [1/2]

◆ Robot() [2/2]

◆ ~Robot()

Member Function Documentation

◆ activateExecutor() [1/3]

◆ activateExecutor() [2/3]

◆ activateExecutor() [3/3]

◆ cancelAllCommands()

◆ clearExecutors()

◆ cloneRNG()

◆ combineCollisionConstraint()

◆ deactivateExecutor()

◆ enforceSelfCollisionPairs()

◆ executeJointCommand()

◆ executeTrajectory()

◆ getActiveExecutor()

◆ getCurrentConfiguration()

◆ getDefaultPostProcessor()

◆ getMetaSkeleton() [1/2]

◆ getMetaSkeleton() [2/2]

◆ getMetaSkeletonClone()

◆ getName()

◆ getNamedConfiguration()

◆ getRootSkeleton() [1/2]

◆ getRootSkeleton() [2/2]

◆ getSelfCollisionConstraint()

◆ getSubRobotByName()

◆ getVFParams()

◆ getWorld()

◆ getWorldCollisionConstraint()

◆ ignoreSelfCollisionPairs()

◆ planToConfiguration() [1/2]

◆ planToConfiguration() [2/2]

◆ planToOffset() [1/2]

◆ planToOffset() [2/2]

◆ planToPoseOffset() [1/2]

◆ planToPoseOffset() [2/2]

◆ planToTSR() [1/2]

◆ planToTSR() [2/2]

◆ registerExecutor()

◆ registerSubRobot()

◆ setDefaultPostProcessor()

◆ setEnablePostProcessing()

◆ setNamedConfigurations()

◆ setRNG()

◆ setVFParams()

◆ setWorld()

◆ step()

◆ validateSubRobot()

Member Data Documentation

◆ mActiveExecutor

◆ mCollisionDetector

◆ mDefaultPostProcessor

◆ mDofs

◆ mEnablePostProcessing

◆ mExecutors

◆ mExecutorsNameMap

◆ mMetaSkeleton

◆ mName

◆ mNamedConfigurations

◆ mParentRobot

◆ mRng

◆ mSelfCollisionFilter

◆ mStateSpace

◆ mSubRobots

◆ mVFParams

◆ mWorld