Base planner class for ConfigurationToTSR planning problem. More...

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

Inheritance diagram for aikido::planner::dart::ConfigurationToTSRPlanner:

Public Member Functions
	ConfigurationToTSRPlanner (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, ::dart::dynamics::MetaSkeletonPtr metaSkeleton, distance::ConstConfigurationRankerPtr configurationRanker=nullptr)
	Constructor. More...

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

Protected Attributes
distance::ConstConfigurationRankerPtr	mConfigurationRanker

Detailed Description

Base planner class for ConfigurationToTSR planning problem.

Constructor & Destructor Documentation

◆ ConfigurationToTSRPlanner()

aikido::planner::dart::ConfigurationToTSRPlanner::ConfigurationToTSRPlanner	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	stateSpace,
		::dart::dynamics::MetaSkeletonPtr	metaSkeleton,
		distance::ConstConfigurationRankerPtr	configurationRanker = `nullptr`
	)

Constructor.

Parameters

[in]	stateSpace	State space that this planner associated with.
[in]	metaSkeleton	MetaSkeleton to use for planning.
[in]	configurationRanker	Ranker to rank configurations.

Member Function Documentation

◆ plan()

virtual trajectory::TrajectoryPtr aikido::planner::dart::ConfigurationToTSRPlanner::plan	(	const SolvableProblem &	problem,
		Result *	result = `nullptr`
	)

pure virtual

Solves problem returning the result to result.

NOTE: Because this is a DART planner, this method must both 1) lock the MetaSkeleton during planning and 2) reset the MetaSkeleton state after planning.

Parameters

[in]	problem	Planning problem to be solved by the planner.
[out]	result	Result of planning procedure.

Member Data Documentation

◆ mConfigurationRanker

distance::ConstConfigurationRankerPtr aikido::planner::dart::ConfigurationToTSRPlanner::mConfigurationRanker

protected

Public Member Functions