Ranks configurations by their distance from a nominal configuration. More...

#include <aikido/distance/NominalConfigurationRanker.hpp>

Inheritance diagram for aikido::distance::NominalConfigurationRanker:

Public Member Functions
	NominalConfigurationRanker (statespace::dart::ConstMetaSkeletonStateSpacePtr metaSkeletonStateSpace, ::dart::dynamics::ConstMetaSkeletonPtr metaSkeleton, const statespace::CartesianProduct::State *nominalConfiguration, std::vector< double > weights=std::vector< double >())
	Constructor. More...

	NominalConfigurationRanker (statespace::dart::ConstMetaSkeletonStateSpacePtr metaSkeletonStateSpace, ::dart::dynamics::ConstMetaSkeletonPtr metaSkeleton, std::vector< double > weights=std::vector< double >())
	Constructor. More...

Public Member Functions inherited from aikido::distance::ConfigurationRanker
	ConfigurationRanker (statespace::dart::ConstMetaSkeletonStateSpacePtr metaSkeletonStateSpace, ::dart::dynamics::ConstMetaSkeletonPtr metaSkeleton, std::vector< double > weights=std::vector< double >())
	Constructor. More...

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

void	rankConfigurations (std::vector< statespace::dart::MetaSkeletonStateSpace::ScopedState > &configurations) const
	Ranks the vector of configurations in increasing order of costs. More...

Protected Member Functions
double	evaluateConfiguration (const statespace::dart::MetaSkeletonStateSpace::State *solution) const override
	Returns cost as distance from the Nominal Configuration. More...

Protected Attributes
const statespace::dart::MetaSkeletonStateSpace::ScopedState	mNominalConfiguration
	Nominal configuration used when evaluating a given configuration. More...

Protected Attributes inherited from aikido::distance::ConfigurationRanker
statespace::dart::ConstMetaSkeletonStateSpacePtr	mMetaSkeletonStateSpace
	Statespace of the skeleton. More...

::dart::dynamics::ConstMetaSkeletonPtr	mMetaSkeleton
	Metaskeleton of the robot. More...

distance::DistanceMetricPtr	mDistanceMetric
	Distance Metric in this space. More...

Detailed Description

Ranks configurations by their distance from a nominal configuration.

Configurations closer to the nominal configuration are ranked higher.

Constructor & Destructor Documentation

◆ NominalConfigurationRanker() [1/2]

aikido::distance::NominalConfigurationRanker::NominalConfigurationRanker	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	metaSkeletonStateSpace,
		::dart::dynamics::ConstMetaSkeletonPtr	metaSkeleton,
		const statespace::CartesianProduct::State *	nominalConfiguration,
		std::vector< double >	weights = `std::vector< double >()`
	)

Constructor.

Parameters

[in]	metaSkeletonStateSpace	Statespace of the skeleton.
[in]	metaSkeleton	Metaskeleton of the robot.
[in]	nominalConfiguration	Nominal configuration.
[in]	weights	Weights over the joints to compute distance. Defaults to unit vector.

◆ NominalConfigurationRanker() [2/2]

aikido::distance::NominalConfigurationRanker::NominalConfigurationRanker	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	metaSkeletonStateSpace,
		::dart::dynamics::ConstMetaSkeletonPtr	metaSkeleton,
		std::vector< double >	weights = `std::vector< double >()`
	)

Constructor.

The current configuration of metaSkeleton is considered as the nominal configuration.

Parameters

[in]	metaSkeletonStateSpace	Statespace of the skeleton.
[in]	metaSkeleton	Metaskeleton of the robot.
[in]	weights	Weights over the joints to compute distance. Defaults to unit vector.

Member Function Documentation

◆ evaluateConfiguration()

double aikido::distance::NominalConfigurationRanker::evaluateConfiguration ( const statespace::dart::MetaSkeletonStateSpace::State * solution ) const

overrideprotectedvirtual

Returns cost as distance from the Nominal Configuration.

Implements aikido::distance::ConfigurationRanker.

Member Data Documentation

◆ mNominalConfiguration

const statespace::dart::MetaSkeletonStateSpace::ScopedState aikido::distance::NominalConfigurationRanker::mNominalConfiguration

protected

Nominal configuration used when evaluating a given configuration.

Public Member Functions

Protected Member Functions

Protected Attributes