aikido::planner::vectorfield::VectorField Class Reference

This class defines a vector field. More...

#include <aikido/planner/vectorfield/VectorField.hpp>

Inheritance diagram for aikido::planner::vectorfield::VectorField:

Public Member Functions
	VectorField (aikido::statespace::ConstStateSpacePtr stateSpace)
	Constructor. More...
virtual	~VectorField ()=default
	Destructor. More...
virtual bool	evaluateVelocity (const aikido::statespace::StateSpace::State *state, Eigen::VectorXd &qd) const =0
	Vectorfield callback function. More...
virtual VectorFieldPlannerStatus	evaluateStatus (const aikido::statespace::StateSpace::State *state) const =0
	Vectorfield planning status callback function. More...
virtual bool	evaluateTrajectory (const aikido::trajectory::Trajectory &trajectory, const aikido::constraint::Testable *constraint, double evalStepSize, double &evalTimePivot, bool includeEndTime) const =0
	Evaludate whether a trajectory satisfies a constraint. More...
aikido::statespace::ConstStateSpacePtr	getStateSpace ()
	Returns state space. More...
aikido::statespace::ConstStateSpacePtr	getStateSpace () const
	Returns const state space. More...

Protected Attributes
aikido::statespace::ConstStateSpacePtr	mStateSpace
	State space. More...

Detailed Description

This class defines a vector field.

Any vector field should inherit this class to implememnt functions (1) evaluateVelocity() that calculates velocity given a state; and (2) evaluteStatus() that checks the planner status given a state.

Constructor & Destructor Documentation

VectorField()

aikido::planner::vectorfield::VectorField::VectorField ( aikido::statespace::ConstStateSpacePtr  stateSpace )

explicit

Constructor.

Parameters

[in]

stateSpace

State space that vector field is defined in.

~VectorField()

virtual aikido::planner::vectorfield::VectorField::~VectorField ( )

virtualdefault

Destructor.

Member Function Documentation

evaluateStatus()

virtual VectorFieldPlannerStatus aikido::planner::vectorfield::VectorField::evaluateStatus ( const aikido::statespace::StateSpace::State *  state ) const

pure virtual

Vectorfield planning status callback function.

Parameters

[in]

state

State to evaluate.

Returns

Status of planning.

Implemented in aikido::planner::vectorfield::BodyNodePoseVectorField.

evaluateTrajectory()

virtual bool aikido::planner::vectorfield::VectorField::evaluateTrajectory ( const aikido::trajectory::Trajectory &  trajectory, const aikido::constraint::Testable *  constraint, double  evalStepSize, double &  evalTimePivot, bool  includeEndTime  ) const

pure virtual

Evaludate whether a trajectory satisfies a constraint.

It is checked by a user-defined evaluation step size.

Parameters

[in]	trajectory	Trajectory to be evaluated.
[in]	constraint	Constraint to be satisfied.
[in]	evalStepSize	The step size used in evaluating constraint.
[in,out]	evalTimePivot	Input provides the start time of the trajectory to evaluate; output returns the end time of the trajectory evaluate.
[in]	includeEndTime	Whether end time is included in evaluation. evaluate. satisfaction.

Implemented in aikido::planner::vectorfield::BodyNodePoseVectorField.

evaluateVelocity()

virtual bool aikido::planner::vectorfield::VectorField::evaluateVelocity ( const aikido::statespace::StateSpace::State *  state, Eigen::VectorXd &  qd  ) const

pure virtual

Vectorfield callback function.

Parameters

[in]	state	Statespace state.
[out]	qd	Joint velocities.

Returns

Whether joint velocities are successfully computed.

Implemented in aikido::planner::vectorfield::BodyNodePoseVectorField.

getStateSpace() [1/2]

aikido::statespace::ConstStateSpacePtr aikido::planner::vectorfield::VectorField::getStateSpace

(

)

Returns state space.

getStateSpace() [2/2]

aikido::statespace::ConstStateSpacePtr aikido::planner::vectorfield::VectorField::getStateSpace

(

)

const

Returns const state space.

Member Data Documentation

mStateSpace

aikido::statespace::ConstStateSpacePtr aikido::planner::vectorfield::VectorField::mStateSpace

protected

State space.