util.hpp File Reference

#include <dart/dart.hpp>
#include <dart/dynamics/dynamics.hpp>
#include "aikido/common/ExecutorThread.hpp"
#include "aikido/common/RNG.hpp"
#include "aikido/constraint/Testable.hpp"
#include "aikido/constraint/dart/CollisionFree.hpp"
#include "aikido/constraint/dart/TSR.hpp"
#include "aikido/control/TrajectoryExecutor.hpp"
#include "aikido/distance/ConfigurationRanker.hpp"
#include "aikido/io/yaml.hpp"
#include "aikido/statespace/dart/MetaSkeletonStateSpace.hpp"
#include "aikido/trajectory/Interpolated.hpp"
#include "aikido/trajectory/Spline.hpp"
#include "aikido/trajectory/Trajectory.hpp"

Go to the source code of this file.

Classes
struct	aikido::robot::util::VectorFieldPlannerParameters
	Paramters for Vector Field Planner. More...
struct	aikido::robot::util::CRRTPlannerParameters
struct	aikido::robot::util::PlanToTSRParameters

Namespaces
	aikido
	Format of serialized trajectory in YAML.
	aikido::robot
	aikido::robot::util

Functions
std::unordered_map< std::string, const Eigen::VectorXd >	aikido::robot::util::parseYAMLToNamedConfigurations (const YAML::Node &node)
	Parses YAML node for named configurtaions. More...
bool	aikido::robot::util::getGoalAndConstraintTSRForEndEffectorOffset (const dart::dynamics::BodyNodePtr &bodyNode, const Eigen::Vector3d &direction, double distance, const constraint::dart::TSRPtr &goal, const constraint::dart::TSRPtr &constraint, double positionTolerance=1e-3, double angularTolerance=1e-3)
	Gets Goal and Constraint TSR for end-effector. More...
Eigen::Isometry3d	aikido::robot::util::getLookAtIsometry (const Eigen::Vector3d &positionFrom, const Eigen::Vector3d &positionTo)
	Get a pose at a point looking at another point. More...
const dart::dynamics::BodyNode *	aikido::robot::util::getBodyNodeOrThrow (const dart::dynamics::MetaSkeleton &skeleton, const std::string &bodyNodeName)
	Get a specific BodyNode of a MetaSkeleton or throw an execption if it doesn't exist. More...
dart::dynamics::BodyNode *	aikido::robot::util::getBodyNodeOrThrow (dart::dynamics::MetaSkeleton &skeleton, const std::string &bodyNodeName)
	Get a specific BodyNode of a MetaSkeleton or throw an execption if it doesn't exist. More...
std::set< std::string >	aikido::robot::util::dofNamesFromSkeleton (const dart::dynamics::MetaSkeletonPtr &skeleton)
	Get a set of degree-of-freedom names from MetaSkeleton. More...

Variables
const std::vector< double >	aikido::robot::util::defaultVFParams
	Default Vector Field Planner Parameters Suitable for ADA-robot end-effector movements. More...