aikido::planner::dart::ConfigurationToConfiguration_to_ConfigurationToTSR Class Reference
Converts a non-DART ConfigurationToConfiguration planner into a DART ConfigurationToTSR planner. More...
#include <aikido/planner/dart/ConfigurationToConfiguration_to_ConfigurationToTSR.hpp>
Inheritance diagram for aikido::planner::dart::ConfigurationToConfiguration_to_ConfigurationToTSR:
Public Member Functions | |
| ConfigurationToConfiguration_to_ConfigurationToTSR (std::shared_ptr< aikido::planner::ConfigurationToConfigurationPlanner > planner, ::dart::dynamics::MetaSkeletonPtr metaSkeleton, distance::ConstConfigurationRankerPtr configurationRanker=nullptr) | |
| Constructor. More... | |
| virtual trajectory::TrajectoryPtr | plan (const ConfigurationToTSR &problem, Planner::Result *result) override |
 Public Member Functions inherited from aikido::planner::dart::PlannerAdapter< aikido::planner::ConfigurationToConfigurationPlanner, ConfigurationToTSRPlanner > | |
| PlannerAdapter (std::shared_ptr< aikido::planner::ConfigurationToConfigurationPlanner > planner, ::dart::dynamics::MetaSkeletonPtr metaSkeleton) | |
| Constructor to adapt non-DART planners. More... | |
| virtual | ~PlannerAdapter ()=default |
| Default destructor. More... | |
| Public Member Functions inherited from aikido::planner::dart::ConfigurationToTSRPlanner | |
| 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... | |
Additional Inherited Members | |
| Protected Attributes inherited from aikido::planner::dart::PlannerAdapter< aikido::planner::ConfigurationToConfigurationPlanner, ConfigurationToTSRPlanner > | |
| std::shared_ptr< aikido::planner::ConfigurationToConfigurationPlanner > | mDelegate |
| Internal planner to delegate planning calls. More... | |
| Protected Attributes inherited from aikido::planner::dart::ConfigurationToTSRPlanner | |
| distance::ConstConfigurationRankerPtr | mConfigurationRanker |
Detailed Description
Converts a non-DART ConfigurationToConfiguration planner into a DART ConfigurationToTSR planner.
Constructor & Destructor Documentation
◆ ConfigurationToConfiguration_to_ConfigurationToTSR()
| aikido::planner::dart::ConfigurationToConfiguration_to_ConfigurationToTSR::ConfigurationToConfiguration_to_ConfigurationToTSR | ( | std::shared_ptr< aikido::planner::ConfigurationToConfigurationPlanner > | planner, |
| ::dart::dynamics::MetaSkeletonPtr | metaSkeleton, | ||
| distance::ConstConfigurationRankerPtr | configurationRanker = nullptr |
||
| ) |
Constructor.
- Parameters
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[in] planner Non-DART ConfigurationToConfigurationPlanner planner to convert. [in] metaSkeleton MetaSkeleton for adapted planner to operate on. [in] configurationRanker Ranker to rank configurations. [in] ranker Ranker to rank the sampled configurations. If nullptr, NominalConfigurationRanker is used with the current metaSkeleton pose.
Member Function Documentation
◆ plan()
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overridevirtual |
