aikido::control::InstantaneousTrajectoryExecutor Class Reference

Instantaneously executes a trajectory in simulation by setting DOF positions to the end of the trajectory. More...

#include <aikido/control/InstantaneousTrajectoryExecutor.hpp>

Inheritance diagram for aikido::control::InstantaneousTrajectoryExecutor:

Public Member Functions
	InstantaneousTrajectoryExecutor (::dart::dynamics::MetaSkeletonPtr metaskeleton)
	Constructor. More...
virtual	~InstantaneousTrajectoryExecutor ()
void	validate (const trajectory::Trajectory *traj) override
	Validate the traj in preparation for execution. More...
std::future< void >	execute (const trajectory::ConstTrajectoryPtr &traj) override
	Instantaneously execute traj and set future upon completion. More...
void	step (const std::chrono::system_clock::time_point &) override
	Does nothing. More...
void	cancel () override
	Does nothing. More...
Public Member Functions inherited from aikido::control::TrajectoryExecutor
	TrajectoryExecutor (const std::vector< dart::dynamics::DegreeOfFreedom * > &dofs, const std::set< ExecutorType > otherTypes=std::set< ExecutorType >(), const std::chrono::milliseconds threadRate=defaultThreadRate)
	Constructor Documentation Inherited. More...
virtual	~TrajectoryExecutor ()=default
Public Member Functions inherited from aikido::control::Executor
	Executor (const std::set< ExecutorType > &types, const std::vector< dart::dynamics::DegreeOfFreedom * > &dofs, const std::chrono::milliseconds threadRate=defaultThreadRate)
	Constructor. More...
	Executor (const ExecutorType type, const std::vector< dart::dynamics::DegreeOfFreedom * > &dofs, std::chrono::milliseconds threadRate=defaultThreadRate)
	Constructor. More...
virtual	~Executor ()
std::set< ExecutorType >	getTypes () const
	Get all of this Executor's ExecutorTypes. More...
const std::vector< dart::dynamics::DegreeOfFreedom * >	getDofs () const
	Get list of dofs needed by this Executor. More...
void	start ()
	Start the underlying ExecutorThread. More...
void	stop ()
	Stops the underlying ExecutorThread. More...
bool	registerDofs ()
	Lock the resources required by the DoFs. More...
void	releaseDofs ()
	Unlock any resources required by the DoFs. More...

Private Attributes
::dart::dynamics::MetaSkeletonPtr	mMetaSkeleton
	Skeleton to execute trajectories on. More...
std::unique_ptr< std::promise< void > >	mPromise
	Promise whose future is returned by execute() More...
std::mutex	mMutex
	Manages access to mPromise. More...

Additional Inherited Members
Protected Attributes inherited from aikido::control::TrajectoryExecutor
std::set< const trajectory::Trajectory * >	mValidatedTrajectories
	Set of trajectories validated by executor. More...
std::chrono::system_clock::time_point	mExecutionStartTime
	Time of previous call. More...
Protected Attributes inherited from aikido::control::Executor
std::set< ExecutorType >	mTypes
	Vector of executor types. More...
std::vector< dart::dynamics::DegreeOfFreedom * >	mDofs
	Vector of dof names. More...

Detailed Description

Instantaneously executes a trajectory in simulation by setting DOF positions to the end of the trajectory.

Constructor & Destructor Documentation

InstantaneousTrajectoryExecutor()

aikido::control::InstantaneousTrajectoryExecutor::InstantaneousTrajectoryExecutor ( ::dart::dynamics::MetaSkeletonPtr  metaskeleton )

explicit

Constructor.

Parameters

skeleton

Skeleton to execute trajectories on. All trajectories must have dofs only in this skeleton.

~InstantaneousTrajectoryExecutor()

virtual aikido::control::InstantaneousTrajectoryExecutor::~InstantaneousTrajectoryExecutor ( )

virtual

Member Function Documentation

cancel()

void aikido::control::InstantaneousTrajectoryExecutor::cancel ( )

overridevirtual

Does nothing.

Implements aikido::control::TrajectoryExecutor.

execute()

std::future<void> aikido::control::InstantaneousTrajectoryExecutor::execute ( const trajectory::ConstTrajectoryPtr &  traj )

overridevirtual

Instantaneously execute traj and set future upon completion.

Parameters

traj	Trajectory to be executed. Its StateSpace should be a MetaSkeletonStateSpace, where the dofs are all in the skeleton passed to this constructor.

Returns

future<void> for trajectory execution. If trajectory terminates before completion, future will be set to a runtime_error.

Exceptions

invalid_argument

if traj is invalid.

Implements aikido::control::TrajectoryExecutor.

step()

void aikido::control::InstantaneousTrajectoryExecutor::step ( const std::chrono::system_clock::time_point &  )

overridevirtual

Does nothing.

Implements aikido::control::TrajectoryExecutor.

validate()

void aikido::control::InstantaneousTrajectoryExecutor::validate ( const trajectory::Trajectory *  traj )

overridevirtual

Validate the traj in preparation for execution.

Parameters

traj	Trajectory to be validated

Implements aikido::control::TrajectoryExecutor.

Member Data Documentation

mMetaSkeleton

::dart::dynamics::MetaSkeletonPtr aikido::control::InstantaneousTrajectoryExecutor::mMetaSkeleton

private

Skeleton to execute trajectories on.

mMutex

std::mutex aikido::control::InstantaneousTrajectoryExecutor::mMutex

mutableprivate

Manages access to mPromise.

mPromise

std::unique_ptr<std::promise<void> > aikido::control::InstantaneousTrajectoryExecutor::mPromise

private

Promise whose future is returned by execute()