Planner that generates a trajectory that moves the end-effector to a given pose. More...

#include <aikido/planner/vectorfield/VectorFieldConfigurationToEndEffectorPosePlanner.hpp>

Inheritance diagram for aikido::planner::vectorfield::VectorFieldConfigurationToEndEffectorPosePlanner:

Public Member Functions
	VectorFieldConfigurationToEndEffectorPosePlanner (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, ::dart::dynamics::MetaSkeletonPtr metaSkeleton, double goalTolerance, double anglePoseRatio, double positionTolerance, double angularTolerance, double initialStepSize, double jointLimitTolerance, double constraintCheckResolution, std::chrono::duration< double > timelimit)
	Constructor. More...

trajectory::TrajectoryPtr	plan (const SolvableProblem &problem, Result *result=nullptr) override
	Plan to a trajectory that moves the end-effector to a given pose. More...

Public Member Functions inherited from aikido::planner::dart::ConfigurationToEndEffectorPosePlanner
	ConfigurationToEndEffectorPosePlanner (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, ::dart::dynamics::MetaSkeletonPtr metaSkeleton)
	Constructor. More...

virtual trajectory::TrajectoryPtr	plan (const SolvableProblem &problem, Result *result=nullptr)=0
	Solves `problem` returning the result to `result`. More...

Public Member Functions inherited from aikido::planner::dart::SingleProblemPlanner< ConfigurationToEndEffectorPosePlanner, ConfigurationToEndEffectorPose >
	SingleProblemPlanner (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, ::dart::dynamics::MetaSkeletonPtr metaSkeleton)
	Constructor. More...

statespace::dart::ConstMetaSkeletonStateSpacePtr	getMetaSkeletonStateSpace () const
	Return this planner's MetaSkeletonStateSpace. More...

::dart::dynamics::MetaSkeletonPtr	getMetaSkeleton ()
	Return this planner's MetaSkeleton. More...

Public Member Functions inherited from aikido::planner::SingleProblemPlanner< ConfigurationToEndEffectorPosePlanner, ConfigurationToEndEffectorPose >
	SingleProblemPlanner (statespace::ConstStateSpacePtr stateSpace, common::RNG *rng=nullptr)

bool	canSolve (const Problem &problem) const final override
	Returns true if this planner can solve `problem`. More...

trajectory::TrajectoryPtr	plan (const Problem &problem, Result *result=nullptr) final override
	Solves `problem` returning the result to `result`. More...

Public Member Functions inherited from aikido::planner::Planner
	Planner (statespace::ConstStateSpacePtr stateSpace, common::RNG *rng=nullptr)
	Constructs from a state space. More...

virtual	~Planner ()=default
	Default destructor. More...

statespace::ConstStateSpacePtr	getStateSpace () const
	Returns const state space. More...

common::RNG *	getRng ()
	Returns RNG. More...

Protected Attributes
double	mGoalTolerance
	Tolerated geodesic distance from goal. More...

double	mAnglePoseRatio
	Conversion ratio from radian to meter in computing the combined geodesic error. More...

double	mPositionTolerance
	How a planned trajectory is allowed to deviated from a straight line segment defined by the direction and the distance. More...

double	mAngularTolerance
	How a planned trajectory is allowed to deviate from a given direction. More...

double	mInitialStepSize
	Initial step size. More...

double	mJointLimitTolerance
	If less then this distance to joint limit, velocity is bounded in that direction to 0. More...

double	mConstraintCheckResolution
	Resolution used in constraint checking. More...

std::chrono::duration< double >	mTimelimit
	Timeout in seconds. More...

Protected Attributes inherited from aikido::planner::dart::SingleProblemPlanner< ConfigurationToEndEffectorPosePlanner, ConfigurationToEndEffectorPose >
statespace::dart::ConstMetaSkeletonStateSpacePtr	mMetaSkeletonStateSpace
	Stores stateSpace pointer as a ConstMetaSkeletonStateSpacePtr. More...

::dart::dynamics::MetaSkeletonPtr	mMetaSkeleton
	MetaSkeleton to use for planning. More...

Protected Attributes inherited from aikido::planner::Planner
statespace::ConstStateSpacePtr	mStateSpace
	State space associated with this planner. More...

std::unique_ptr< common::RNG >	mRng
	RNG the planner uses. More...

Additional Inherited Members
Public Types inherited from aikido::planner::SingleProblemPlanner< ConfigurationToEndEffectorPosePlanner, ConfigurationToEndEffectorPose >
using	SolvableProblem = ConfigurationToEndEffectorPose

Detailed Description

Planner that generates a trajectory that moves the end-effector to a given pose.

Constructor & Destructor Documentation

◆ VectorFieldConfigurationToEndEffectorPosePlanner()

aikido::planner::vectorfield::VectorFieldConfigurationToEndEffectorPosePlanner::VectorFieldConfigurationToEndEffectorPosePlanner	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	stateSpace,
		::dart::dynamics::MetaSkeletonPtr	metaSkeleton,
		double	goalTolerance,
		double	anglePoseRatio,
		double	positionTolerance,
		double	angularTolerance,
		double	initialStepSize,
		double	jointLimitTolerance,
		double	constraintCheckResolution,
		std::chrono::duration< double >	timelimit
	)

Constructor.

Parameters

[in]	stateSpace	State space that this planner is associated with.
[in]	metaSkeleton	MetaSkeleton to plan with.
[in]	goalTolerance	Distance from goal to stop planning.
[in]	anglePoseRatio	Conversion ratio from radian to meter in computing the goal tolerance.
[in]	positionTolerance	How a planned trajectory is allowed to deviated from a straight line segment defined by the direction and the distance.
[in]	angularTolerance	How a planned trajectory is allowed to deviate from a given direction.
[in]	initialStepSize	Initial step size.
[in]	jointLimitTolerance	If less then this distance to joint limit, velocity is bounded in that direction to 0.
[in]	constraintCheckResolution	Resolution used in constraint checking.
[in]	timelimit	timeout in seconds.

Member Function Documentation

◆ plan()

trajectory::TrajectoryPtr aikido::planner::vectorfield::VectorFieldConfigurationToEndEffectorPosePlanner::plan	(	const SolvableProblem &	problem,
		Result *	result = `nullptr`
	)

override

Plan to a trajectory that moves the end-effector to a given pose.

The planner returns success if the resulting trajectory satisfies constraint at some resolution and failure (returning nullptr) otherwise. The reason for the failure is stored in the result output parameter.

Parameters

[in]	problem	Planning problem.
[out]	result	Information about success or failure.

Returns: Trajectory or nullptr if planning failed.

Member Data Documentation

◆ mAnglePoseRatio

double aikido::planner::vectorfield::VectorFieldConfigurationToEndEffectorPosePlanner::mAnglePoseRatio

protected

Conversion ratio from radian to meter in computing the combined geodesic error.

◆ mAngularTolerance

double aikido::planner::vectorfield::VectorFieldConfigurationToEndEffectorPosePlanner::mAngularTolerance

protected

How a planned trajectory is allowed to deviate from a given direction.

◆ mConstraintCheckResolution

double aikido::planner::vectorfield::VectorFieldConfigurationToEndEffectorPosePlanner::mConstraintCheckResolution

protected

Resolution used in constraint checking.

◆ mGoalTolerance

double aikido::planner::vectorfield::VectorFieldConfigurationToEndEffectorPosePlanner::mGoalTolerance

protected

Tolerated geodesic distance from goal.

◆ mInitialStepSize

double aikido::planner::vectorfield::VectorFieldConfigurationToEndEffectorPosePlanner::mInitialStepSize

protected

Initial step size.

◆ mJointLimitTolerance

double aikido::planner::vectorfield::VectorFieldConfigurationToEndEffectorPosePlanner::mJointLimitTolerance

protected

If less then this distance to joint limit, velocity is bounded in that direction to 0.

◆ mPositionTolerance

double aikido::planner::vectorfield::VectorFieldConfigurationToEndEffectorPosePlanner::mPositionTolerance

protected

How a planned trajectory is allowed to deviated from a straight line segment defined by the direction and the distance.

◆ mTimelimit

std::chrono::duration<double> aikido::planner::vectorfield::VectorFieldConfigurationToEndEffectorPosePlanner::mTimelimit

protected

Timeout in seconds.

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VectorFieldConfigurationToEndEffectorPosePlanner()

Member Function Documentation

◆ plan()

Member Data Documentation

◆ mAnglePoseRatio

◆ mAngularTolerance

◆ mConstraintCheckResolution

◆ mGoalTolerance

◆ mInitialStepSize

◆ mJointLimitTolerance

◆ mPositionTolerance

◆ mTimelimit