aikido::control::TrajectoryExecutor Class Reference

Abstract class for executing trajectories. More...

#include <aikido/control/TrajectoryExecutor.hpp>

Inheritance diagram for aikido::control::TrajectoryExecutor:

Public Member Functions
	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
virtual void	validate (const trajectory::Trajectory *traj)=0
	Validate the traj in preparation for execution. More...
virtual std::future< void >	execute (const trajectory::ConstTrajectoryPtr &traj)=0
	Validate and execute traj, setting future upon completion. More...
virtual void	step (const std::chrono::system_clock::time_point &timepoint) override=0
	Step to a point in time. More...
virtual void	cancel ()=0
	Cancel the current trajectory. More...
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...

Protected Attributes
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

Abstract class for executing trajectories.

Constructor & Destructor Documentation

TrajectoryExecutor()

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  )

inline

Constructor Documentation Inherited.

Parameters

[in]

otherTypes

Other resources this executor needs beyond TRAJECTORY

~TrajectoryExecutor()

virtual aikido::control::TrajectoryExecutor::~TrajectoryExecutor ( )

virtualdefault

Member Function Documentation

cancel()

virtual void aikido::control::TrajectoryExecutor::cancel ( )

pure virtual

Cancel the current trajectory.

Reimplemented from aikido::control::Executor.

Implemented in aikido::control::ros::RosTrajectoryExecutor, aikido::control::KinematicSimulationTrajectoryExecutor, aikido::control::InstantaneousTrajectoryExecutor, and aikido::control::QueuedTrajectoryExecutor.

execute()

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

pure virtual

Validate and execute traj, setting future upon completion.

If a trajectory is already running, raise an exception unless the executor supports queuing.

Parameters

traj	Trajectory to be executed.

Returns

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

Implemented in aikido::control::ros::RosTrajectoryExecutor, aikido::control::KinematicSimulationTrajectoryExecutor, aikido::control::InstantaneousTrajectoryExecutor, and aikido::control::QueuedTrajectoryExecutor.

step()

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

overridepure virtual

Step to a point in time.

Note

timepoint can be a time in the future to enable faster than real-time execution.

Parameters

timepoint

Time to simulate to

Reimplemented from aikido::control::Executor.

Implemented in aikido::control::ros::RosTrajectoryExecutor, aikido::control::KinematicSimulationTrajectoryExecutor, aikido::control::QueuedTrajectoryExecutor, and aikido::control::InstantaneousTrajectoryExecutor.

validate()

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

pure virtual

Validate the traj in preparation for execution.

Parameters

traj	Trajectory to be validated

Implemented in aikido::control::ros::RosTrajectoryExecutor, aikido::control::KinematicSimulationTrajectoryExecutor, aikido::control::InstantaneousTrajectoryExecutor, and aikido::control::QueuedTrajectoryExecutor.

Member Data Documentation

mExecutionStartTime

std::chrono::system_clock::time_point aikido::control::TrajectoryExecutor::mExecutionStartTime

protected

Time of previous call.

mValidatedTrajectories

std::set<const trajectory::Trajectory*> aikido::control::TrajectoryExecutor::mValidatedTrajectories

protected

Set of trajectories validated by executor.