aikido::distance::ConfigurationRanker Class Reference

ConfigurationRanker is a base class for ranking configurations. More...

#include <aikido/distance/ConfigurationRanker.hpp>

Inheritance diagram for aikido::distance::ConfigurationRanker:

Public Member Functions
	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
virtual double	evaluateConfiguration (const statespace::dart::MetaSkeletonStateSpace::State *solution) const =0
	Returns the cost of the configuration. More...

Protected Attributes
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

ConfigurationRanker is a base class for ranking configurations.

The rule for evaluating the costs of configurations to rank them is specified by the concrete classes.

Constructor & Destructor Documentation

ConfigurationRanker()

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

Constructor.

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.

~ConfigurationRanker()

virtual aikido::distance::ConfigurationRanker::~ConfigurationRanker ( )

virtualdefault

Destructor.

Member Function Documentation

evaluateConfiguration()

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

protectedpure virtual

Returns the cost of the configuration.

Parameters

[in]

solution

Configuration to evaluate.

Implemented in aikido::distance::NominalConfigurationRanker, and aikido::distance::JointAvoidanceConfigurationRanker.

rankConfigurations()

void aikido::distance::ConfigurationRanker::rankConfigurations

(

std::vector< statespace::dart::MetaSkeletonStateSpace::ScopedState > &

configurations

)

const

Ranks the vector of configurations in increasing order of costs.

Parameters

[in,out]

configurations

Vector of configurations to rank.

Member Data Documentation

mDistanceMetric

distance::DistanceMetricPtr aikido::distance::ConfigurationRanker::mDistanceMetric

protected

Distance Metric in this space.

mMetaSkeleton

::dart::dynamics::ConstMetaSkeletonPtr aikido::distance::ConfigurationRanker::mMetaSkeleton

protected

Metaskeleton of the robot.

mMetaSkeletonStateSpace

statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::distance::ConfigurationRanker::mMetaSkeletonStateSpace

protected

Statespace of the skeleton.