aikido::planner::dart::ConfigurationToConfigurations Class Reference

Planning problem to plan to multiple goal configurations. More...

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

Inheritance diagram for aikido::planner::dart::ConfigurationToConfigurations:

Public Types
using	GoalStates = std::vector< const statespace::dart::MetaSkeletonStateSpace::State * >

Public Member Functions
	ConfigurationToConfigurations (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, ::dart::dynamics::ConstMetaSkeletonPtr metaSkeleton, const GoalStates &goalStates, constraint::ConstTestablePtr constraint=nullptr)
	Constructor. More...
	ConfigurationToConfigurations (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, const statespace::dart::MetaSkeletonStateSpace::State *startState, const GoalStates &goalStates, constraint::ConstTestablePtr constraint=nullptr)
	Constructor. More...
const std::string &	getType () const override
	Returns type of this planning problem. More...
const statespace::dart::MetaSkeletonStateSpace::State *	getStartState () const
	Returns the start state. More...
std::size_t	getNumGoalStates () const
	Returns the number of the goal states. More...
GoalStates	getGoalStates () const
	Returns goal states. 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
statespace::dart::ConstMetaSkeletonStateSpacePtr	mMetaSkeletonStateSpace
	MetaSkeletonStateSpace. More...
::dart::dynamics::ConstMetaSkeletonPtr	mMetaSkeleton
	MetaSkeleton, if given. More...
statespace::dart::MetaSkeletonStateSpace::ScopedState	mStartState
	Start state. More...
std::vector< statespace::dart::MetaSkeletonStateSpace::ScopedState >	mGoalStates
	Goal States. 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 multiple goal configurations.

Member Typedef Documentation

GoalStates

using aikido::planner::dart::ConfigurationToConfigurations::GoalStates = std::vector<const statespace::dart::MetaSkeletonStateSpace::State*>

Constructor & Destructor Documentation

ConfigurationToConfigurations() [1/2]

aikido::planner::dart::ConfigurationToConfigurations::ConfigurationToConfigurations	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	stateSpace,
		::dart::dynamics::ConstMetaSkeletonPtr	metaSkeleton,
		const GoalStates &	goalStates,
		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]	goalStates	Goal states.
[in]	constraint	Trajectory-wide constraint that must be satisfied.

ConfigurationToConfigurations() [2/2]

aikido::planner::dart::ConfigurationToConfigurations::ConfigurationToConfigurations	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	stateSpace,
		const statespace::dart::MetaSkeletonStateSpace::State *	startState,
		const GoalStates &	goalStates,
		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]	goalStates	Goal states.
[in]	constraint	Trajectory-wide constraint that must be satisfied.

Member Function Documentation

getGoalStates()

GoalStates aikido::planner::dart::ConfigurationToConfigurations::getGoalStates

(

)

const

Returns goal states.

getNumGoalStates()

std::size_t aikido::planner::dart::ConfigurationToConfigurations::getNumGoalStates

(

)

const

Returns the number of the goal states.

getStartState()

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

(

)

const

Returns the start state.

getStaticType()

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

static

Returns the type of the planning problem.

getType()

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

overridevirtual

Returns type of this planning problem.

Implements aikido::planner::Problem.

Member Data Documentation

mGoalStates

std::vector<statespace::dart::MetaSkeletonStateSpace::ScopedState> aikido::planner::dart::ConfigurationToConfigurations::mGoalStates

protected

Goal States.

mMetaSkeleton

::dart::dynamics::ConstMetaSkeletonPtr aikido::planner::dart::ConfigurationToConfigurations::mMetaSkeleton

protected

MetaSkeleton, if given.

mMetaSkeletonStateSpace

statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::planner::dart::ConfigurationToConfigurations::mMetaSkeletonStateSpace

protected

MetaSkeletonStateSpace.

Prevents use of expensive dynamic cast on mStateSpace.

mStartState

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

protected

Start state.