Planning problem to plan to a given single Task Space Region (TSR). More...

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

Inheritance diagram for aikido::planner::dart::ConfigurationToTSR:

Public Member Functions
	ConfigurationToTSR (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, ::dart::dynamics::ConstMetaSkeletonPtr metaSkeleton, ::dart::dynamics::ConstBodyNodePtr endEffectorBodyNode, std::size_t maxSamplingTries, std::size_t batchSize, std::size_t maxBatches, std::size_t numMaxIterations, constraint::dart::ConstTSRPtr goalTSR, constraint::ConstTestablePtr constraint=nullptr)
	Constructor. More...

	ConfigurationToTSR (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, const statespace::dart::MetaSkeletonStateSpace::State *startState, ::dart::dynamics::ConstBodyNodePtr endEffectorBodyNode, std::size_t maxSamplingTries, std::size_t batchSize, std::size_t maxBatches, std::size_t numMaxIterations, constraint::dart::ConstTSRPtr goalTSR, constraint::ConstTestablePtr constraint=nullptr)
	Constructor. More...

const std::string &	getType () const override
	Returns type of this planning problem. More...

::dart::dynamics::ConstBodyNodePtr	getEndEffectorBodyNode () const
	Returns the end-effector BodyNode to be planned to move to a desired TSR. More...

std::size_t	getMaxSamplingTries () const
	Returns the maximum number of times to try when sampling from the TSR. More...

std::size_t	getBatchSize () const
	Returns the number of samples from the TSR to include per batch. More...

std::size_t	getMaxBatches () const
	Returns the maximum number of batches to run when planning to TSR samples. More...

std::size_t	getNumMaxIterations () const
	Returns the maximum number of iterations for the IK Solver. More...

const statespace::dart::MetaSkeletonStateSpace::State *	getStartState () const
	Returns the start state to plan from, either set on construction or taken from the current state of the MetaSkeleton. More...

constraint::dart::ConstTSRPtr	getGoalTSR () const
	Returns the goal TSR. More...

Public Member Functions inherited from aikido::planner::Problem
	Problem (statespace::ConstStateSpacePtr stateSpace, constraint::ConstTestablePtr constraint=nullptr)
	Constructor. More...

virtual	~Problem ()=default
	Destructor. More...

statespace::ConstStateSpacePtr	getStateSpace () const
	Returns const state space. More...

constraint::ConstTestablePtr	getConstraint () const
	Returns the constraint that must be satisfied throughout the trajectory. More...

Static Public Member Functions
static const std::string &	getStaticType ()
	Returns the type of the planning problem. More...

Protected Attributes
statespace::dart::ConstMetaSkeletonStateSpacePtr	mMetaSkeletonStateSpace
	MetaSkeletonStateSpace. More...

::dart::dynamics::ConstMetaSkeletonPtr	mMetaSkeleton
	MetaSkeleton, if given. More...

statespace::dart::MetaSkeletonStateSpace::ScopedState	mStartState
	Start state, if set on construction. More...

const ::dart::dynamics::ConstBodyNodePtr	mEndEffectorBodyNode
	End-effector body node. More...

std::size_t	mMaxSamplingTries
	Maximum number of times to try when sampling from the TSR. More...

std::size_t	mBatchSize
	Number of TSR samples to include per batch. More...

std::size_t	mMaxBatches
	Maximum number of batches to run when planning to TSR samples. More...

std::size_t	mNumMaxIterations
	Maximum number of iterations for the IK Solver. More...

const constraint::dart::ConstTSRPtr	mGoalTSR
	Goal TSR. More...

Protected Attributes inherited from aikido::planner::Problem
statespace::ConstStateSpacePtr	mStateSpace
	State space associated with this problem. More...

constraint::ConstTestablePtr	mConstraint
	Trajectory-wide constraint that must be satisfied. More...

Detailed Description

Planning problem to plan to a given single Task Space Region (TSR).

Constructor & Destructor Documentation

◆ ConfigurationToTSR() [1/2]

aikido::planner::dart::ConfigurationToTSR::ConfigurationToTSR	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	stateSpace,
		::dart::dynamics::ConstMetaSkeletonPtr	metaSkeleton,
		::dart::dynamics::ConstBodyNodePtr	endEffectorBodyNode,
		std::size_t	maxSamplingTries,
		std::size_t	batchSize,
		std::size_t	maxBatches,
		std::size_t	numMaxIterations,
		constraint::dart::ConstTSRPtr	goalTSR,
		constraint::ConstTestablePtr	constraint = `nullptr`
	)

Constructor.

Note that this constructor takes the start state from the current state of the passed MetaSkeleton.

Parameters

[in]	stateSpace	State space.
[in]	metaSkeleton	MetaSkeleton that getStartState will return the current state of when called.
[in]	endEffectorBodyNode	BodyNode to be planned to move to a desired TSR.
[in]	maxSamplingTries	Maximum number of times for the sample generator to retry sampling from the TSR.
[in]	batchSize	Number of TSR samples to include per ranked batch.
[in]	maxBatches	Maximum number of ranked batches to run when planning to TSR samples.
[in]	numMaxIterations	Maximum number of iterations for the IK Solver
[in]	goalTSR	Goal TSR.
[in]	constraint	Trajectory-wide constraint that must be satisfied.

Exceptions

If	`stateSpace` is not compatible with `constraint's` state space.

◆ ConfigurationToTSR() [2/2]

aikido::planner::dart::ConfigurationToTSR::ConfigurationToTSR	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	stateSpace,
		const statespace::dart::MetaSkeletonStateSpace::State *	startState,
		::dart::dynamics::ConstBodyNodePtr	endEffectorBodyNode,
		std::size_t	maxSamplingTries,
		std::size_t	batchSize,
		std::size_t	maxBatches,
		std::size_t	numMaxIterations,
		constraint::dart::ConstTSRPtr	goalTSR,
		constraint::ConstTestablePtr	constraint = `nullptr`
	)

Constructor.

Note that this constructor sets the start state on construction.

Parameters

[in]	stateSpace	State space.
[in]	startState	Start state to plan from.
[in]	endEffectorBodyNode	BodyNode to be planned to move to a desired TSR.
[in]	maxSamplingTries	Maximum number of times for the sample generator to retry sampling from the TSR
[in]	batchSize	Number of TSR samples to include per ranked batch.
[in]	maxBatches	Maximum number of ranked batches to run when planning to TSR samples.
[in]	numMaxIterations	Maximum number of iterations for the IK Solver
[in]	goalTSR	Goal TSR.
[in]	constraint	Trajectory-wide constraint that must be satisfied.

Exceptions

If	`stateSpace` is not compatible with `constraint's` state space.

Member Function Documentation

◆ getBatchSize()

std::size_t aikido::planner::dart::ConfigurationToTSR::getBatchSize ( ) const

Returns the number of samples from the TSR to include per batch.

◆ getEndEffectorBodyNode()

::dart::dynamics::ConstBodyNodePtr aikido::planner::dart::ConfigurationToTSR::getEndEffectorBodyNode ( ) const

Returns the end-effector BodyNode to be planned to move to a desired TSR.

◆ getGoalTSR()

constraint::dart::ConstTSRPtr aikido::planner::dart::ConfigurationToTSR::getGoalTSR ( ) const

Returns the goal TSR.

◆ getMaxBatches()

std::size_t aikido::planner::dart::ConfigurationToTSR::getMaxBatches ( ) const

Returns the maximum number of batches to run when planning to TSR samples.

◆ getMaxSamplingTries()

std::size_t aikido::planner::dart::ConfigurationToTSR::getMaxSamplingTries ( ) const

Returns the maximum number of times to try when sampling from the TSR.

◆ getNumMaxIterations()

std::size_t aikido::planner::dart::ConfigurationToTSR::getNumMaxIterations ( ) const

Returns the maximum number of iterations for the IK Solver.

◆ getStartState()

const statespace::dart::MetaSkeletonStateSpace::State* aikido::planner::dart::ConfigurationToTSR::getStartState ( ) const

Returns the start state to plan from, either set on construction or taken from the current state of the MetaSkeleton.

◆ getStaticType()

static const std::string& aikido::planner::dart::ConfigurationToTSR::getStaticType ( )

static

Returns the type of the planning problem.

◆ getType()

const std::string& aikido::planner::dart::ConfigurationToTSR::getType ( ) const

overridevirtual

Returns type of this planning problem.

Implements aikido::planner::Problem.

Member Data Documentation

◆ mBatchSize

std::size_t aikido::planner::dart::ConfigurationToTSR::mBatchSize

protected

Number of TSR samples to include per batch.

◆ mEndEffectorBodyNode

const ::dart::dynamics::ConstBodyNodePtr aikido::planner::dart::ConfigurationToTSR::mEndEffectorBodyNode

protected

End-effector body node.

◆ mGoalTSR

const constraint::dart::ConstTSRPtr aikido::planner::dart::ConfigurationToTSR::mGoalTSR

protected

Goal TSR.

◆ mMaxBatches

std::size_t aikido::planner::dart::ConfigurationToTSR::mMaxBatches

protected

Maximum number of batches to run when planning to TSR samples.

◆ mMaxSamplingTries

std::size_t aikido::planner::dart::ConfigurationToTSR::mMaxSamplingTries

protected

Maximum number of times to try when sampling from the TSR.

◆ mMetaSkeleton

::dart::dynamics::ConstMetaSkeletonPtr aikido::planner::dart::ConfigurationToTSR::mMetaSkeleton

protected

MetaSkeleton, if given.

◆ mMetaSkeletonStateSpace

statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::planner::dart::ConfigurationToTSR::mMetaSkeletonStateSpace

protected

MetaSkeletonStateSpace.

Prevents use of expensive dynamic cast on mStateSpace.

◆ mNumMaxIterations

std::size_t aikido::planner::dart::ConfigurationToTSR::mNumMaxIterations

protected

Maximum number of iterations for the IK Solver.

◆ mStartState

statespace::dart::MetaSkeletonStateSpace::ScopedState aikido::planner::dart::ConfigurationToTSR::mStartState

protected

Start state, if set on construction.

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ConfigurationToTSR() [1/2]

◆ ConfigurationToTSR() [2/2]

Member Function Documentation

◆ getBatchSize()

◆ getEndEffectorBodyNode()

◆ getGoalTSR()

◆ getMaxBatches()

◆ getMaxSamplingTries()

◆ getNumMaxIterations()

◆ getStartState()

◆ getStaticType()

◆ getType()

Member Data Documentation

◆ mBatchSize

◆ mEndEffectorBodyNode

◆ mGoalTSR

◆ mMaxBatches

◆ mMaxSamplingTries

◆ mMetaSkeleton

◆ mMetaSkeletonStateSpace

◆ mNumMaxIterations

◆ mStartState