Classes
class	BodyNodePoseVectorField
	This class is a vector field over a MetaSkeletonStateSpace that is defined in terms of a Cartesian vector field over the pose of a BodyNode in that MetaSkeleton. More...

class	MoveEndEffectorOffsetVectorField
	Vector field for moving end-effector by a direction and distance. More...

class	MoveEndEffectorPoseVectorField
	Vector field for moving end-effector to a goal pose in SE(3). More...

class	VectorField
	This class defines a vector field. More...

class	VectorFieldConfigurationToEndEffectorOffsetPlanner
	Planner that generates a trajectory that moves the end-effector by a given direction and distance. More...

class	VectorFieldConfigurationToEndEffectorPosePlanner
	Planner that generates a trajectory that moves the end-effector to a given pose. More...

Typedefs
using	BodyNodePoseVectorFieldPtr = std::shared_ptr< BodyNodePoseVectorField >

using	ConstBodyNodePoseVectorFieldPtr = std::shared_ptr< const BodyNodePoseVectorField >

using	WeakBodyNodePoseVectorFieldPtr = std::weak_ptr< BodyNodePoseVectorField >

using	WeakConstBodyNodePoseVectorFieldPtr = std::weak_ptr< const BodyNodePoseVectorField >

using	UniqueBodyNodePoseVectorFieldPtr = std::unique_ptr< BodyNodePoseVectorField >

using	UniqueConstBodyNodePoseVectorFieldPtr = std::unique_ptr< const BodyNodePoseVectorField >

using	VectorFieldPtr = std::shared_ptr< VectorField >

Enumerations
enum	VectorFieldPlannerStatus { VectorFieldPlannerStatus::TERMINATE, VectorFieldPlannerStatus::CACHE_AND_CONTINUE, VectorFieldPlannerStatus::CONTINUE, VectorFieldPlannerStatus::CACHE_AND_TERMINATE }
	Status of planning. More...

Functions
aikido::trajectory::UniqueInterpolatedPtr	followVectorField (const aikido::planner::vectorfield::VectorField &vectorField, const aikido::statespace::StateSpace::State &startState, const aikido::constraint::Testable &constraint, std::chrono::duration< double > timelimit, double initialStepSize, double checkConstraintResolution, planner::Planner::Result *result)
	Generate a trajectory following the vector field along given time. More...

aikido::trajectory::UniqueInterpolatedPtr	planToEndEffectorOffset (const aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr &stateSpace, const statespace::dart::MetaSkeletonStateSpace::State &startState, ::dart::dynamics::MetaSkeletonPtr metaskeleton, const ::dart::dynamics::ConstBodyNodePtr &bn, const aikido::constraint::ConstTestablePtr &constraint, const Eigen::Vector3d &direction, double minDistance, double maxDistance, double positionTolerance, double angularTolerance, double initialStepSize, double jointLimitTolerance, double constraintCheckResolution, std::chrono::duration< double > timelimit, planner::Planner::Result *result=nullptr)
	Plan to a trajectory that moves the end-effector by a given direction and distance. More...

aikido::trajectory::UniqueInterpolatedPtr	planToEndEffectorPose (const aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr &stateSpace, const statespace::dart::MetaSkeletonStateSpace::State &startState, ::dart::dynamics::MetaSkeletonPtr metaskeleton, const ::dart::dynamics::ConstBodyNodePtr &bn, const aikido::constraint::ConstTestablePtr &constraint, const Eigen::Isometry3d &goalPose, double goalTolerance, double conversionRatioInGeodesicDistance, double positionTolerance, double angularTolerance, double initialStepSize, double jointLimitTolerance, double constraintCheckResolution, std::chrono::duration< double > timelimit, planner::Planner::Result *result=nullptr)
	Plan to an end-effector pose by following a geodesic loss function in SE(3) via an optimized Jacobian. More...

bool	computeJointVelocityFromTwist (Eigen::VectorXd &jointVelocity, const Eigen::Vector6d &desiredTwist, const ::dart::dynamics::MetaSkeletonPtr metaSkeleton, const ::dart::dynamics::ConstBodyNodePtr bodyNode, double jointLimitPadding, const Eigen::VectorXd &jointVelocityLowerLimits, const Eigen::VectorXd &jointVelocityUpperLimits, bool enforceJointVelocityLimits, double stepSize)
	Compute joint velocity from a given twist. More...

Eigen::Vector6d	computeGeodesicTwist (const Eigen::Isometry3d &fromTrans, const Eigen::Isometry3d &toTrans)
	Compute the twist in global coordinate that corresponds to the gradient of the geodesic distance between two transforms. More...

Eigen::Vector4d	computeGeodesicError (const Eigen::Isometry3d &fromTrans, const Eigen::Isometry3d &toTrans)
	Compute the error in gloabl coordinate between two transforms. More...

double	computeGeodesicDistance (const Eigen::Isometry3d &fromTrans, const Eigen::Isometry3d &toTrans, double r)
	Compute the geodesic distance between two transforms. More...

Typedef Documentation

◆ BodyNodePoseVectorFieldPtr

using aikido::planner::vectorfield::BodyNodePoseVectorFieldPtr = typedef std::shared_ptr< BodyNodePoseVectorField >

◆ ConstBodyNodePoseVectorFieldPtr

using aikido::planner::vectorfield::ConstBodyNodePoseVectorFieldPtr = typedef std::shared_ptr< const BodyNodePoseVectorField >

◆ UniqueBodyNodePoseVectorFieldPtr

using aikido::planner::vectorfield::UniqueBodyNodePoseVectorFieldPtr = typedef std::unique_ptr< BodyNodePoseVectorField >

◆ UniqueConstBodyNodePoseVectorFieldPtr

using aikido::planner::vectorfield::UniqueConstBodyNodePoseVectorFieldPtr = typedef std::unique_ptr< const BodyNodePoseVectorField >

◆ VectorFieldPtr

using aikido::planner::vectorfield::VectorFieldPtr = typedef std::shared_ptr<VectorField>

◆ WeakBodyNodePoseVectorFieldPtr

using aikido::planner::vectorfield::WeakBodyNodePoseVectorFieldPtr = typedef std::weak_ptr< BodyNodePoseVectorField >

◆ WeakConstBodyNodePoseVectorFieldPtr

using aikido::planner::vectorfield::WeakConstBodyNodePoseVectorFieldPtr = typedef std::weak_ptr< const BodyNodePoseVectorField >

Enumeration Type Documentation

◆ VectorFieldPlannerStatus

enum aikido::planner::vectorfield::VectorFieldPlannerStatus

strong

Status of planning.

TERMINATE - stop gracefully and output the CACHEd trajectory. CACHE_AND_CONTINUE - save the current trajectory and CONTINUE. return the saved trajectory if TERMINATEd. CONTINUE - keep going. CACHE_AND_TERMINATE - save the current trajectory and TERMINATE.

Enumerator
TERMINATE
CACHE_AND_CONTINUE
CONTINUE
CACHE_AND_TERMINATE

Function Documentation

◆ computeGeodesicDistance()

double aikido::planner::vectorfield::computeGeodesicDistance	(	const Eigen::Isometry3d &	fromTrans,
		const Eigen::Isometry3d &	toTrans,
		double	r
	)

Compute the geodesic distance between two transforms.

gd = norm( relative translation + r * axis-angle error )

Parameters

[in]	fromTrans	Current transformation.
[in]	toTrans	Goal transformation.
[in]	r	In units of meters/radians converts radians to meters.

Returns: Geodesic distance in meter.

◆ computeGeodesicError()

Eigen::Vector4d aikido::planner::vectorfield::computeGeodesicError	(	const Eigen::Isometry3d &	fromTrans,
		const Eigen::Isometry3d &	toTrans
	)

Compute the error in gloabl coordinate between two transforms.

Parameters

[in]	fromTrans	Current transformation.
[in]	toTrans	Goal transformation.

Returns: Geodesic error in global coordinate. It is a 4d vector, in which the first element is the norm of angle difference (in radian), and the last three elements are translation difference (in meter).

◆ computeGeodesicTwist()

Eigen::Vector6d aikido::planner::vectorfield::computeGeodesicTwist	(	const Eigen::Isometry3d &	fromTrans,
		const Eigen::Isometry3d &	toTrans
	)

Compute the twist in global coordinate that corresponds to the gradient of the geodesic distance between two transforms.

Parameters

[in]	fromTrans	Current transformation.
[in]	toTrans	Goal transformation.

Returns: Geodesic twist in global coordinate. It corresponds to the gradient of the geodesic distance between two transforms. The first three are angular velocities (meters per second), and the last three are linear velocities (radian per sec).

◆ computeJointVelocityFromTwist()

bool aikido::planner::vectorfield::computeJointVelocityFromTwist	(	Eigen::VectorXd &	jointVelocity,
		const Eigen::Vector6d &	desiredTwist,
		const ::dart::dynamics::MetaSkeletonPtr	metaSkeleton,
		const ::dart::dynamics::ConstBodyNodePtr	bodyNode,
		double	jointLimitPadding,
		const Eigen::VectorXd &	jointVelocityLowerLimits,
		const Eigen::VectorXd &	jointVelocityUpperLimits,
		bool	enforceJointVelocityLimits,
		double	stepSize
	)

Compute joint velocity from a given twist.

Parameters

[out]	jointVelocity	Calculated joint velocities.
[in]	desiredTwist	Desired twist, which consists of angular velocity and linear velocity.
[in]	metaSkeleton	MetaSkeleton to plan with
[in]	bodyNode	Body node of the end-effector.
[in]	jointLimitPadding	If less then this distance to joint limit, velocity is bounded in that direction to 0.
[in]	jointVelocityLowerLimits	Joint velocity lower bounds.
[in]	jointVelocityUpperLimits	Joint velocity upper bounds.
[in]	enforceJointVelocityLimits	Whether joint velocity limits are considered in computation.
[in]	stepSize	Step size in second. It is used in evaluating position bounds violation. It assumes that whether moving the time of stepSize by maximum joint velocity will reach the limit.

Returns: Whether a joint velocity is found

◆ followVectorField()

aikido::trajectory::UniqueInterpolatedPtr aikido::planner::vectorfield::followVectorField	(	const aikido::planner::vectorfield::VectorField &	vectorField,
		const aikido::statespace::StateSpace::State &	startState,
		const aikido::constraint::Testable &	constraint,
		std::chrono::duration< double >	timelimit,
		double	initialStepSize,
		double	checkConstraintResolution,
		planner::Planner::Result *	result
	)

Generate a trajectory following the vector field along given time.

Note: The resulting interpolated trajectory is formed by taking the knots of the planned spline trajectory, which is not geometrically equivalent. See https://github.com/personalrobotics/aikido/issues/512

Parameters

[in]	vectorField	Vector field to follow.
[in]	startState	Start state of the planning.
[in]	constraint	Constraint to be satisfied.
[in]	timelimit	Timelimit for integration calculation.
[in]	initialStepSize	Initial step size of integator in following vector field.
[in]	checkConstraintResolution	Resolution used in checking constraint satisfaction in generated trajectory.
[out]	result	information about success or failure.

Returns: A trajectory following the vector field.

◆ planToEndEffectorOffset()

aikido::trajectory::UniqueInterpolatedPtr aikido::planner::vectorfield::planToEndEffectorOffset	(	const aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr &	stateSpace,
		const statespace::dart::MetaSkeletonStateSpace::State &	startState,
		::dart::dynamics::MetaSkeletonPtr	metaskeleton,
		const ::dart::dynamics::ConstBodyNodePtr &	bn,
		const aikido::constraint::ConstTestablePtr &	constraint,
		const Eigen::Vector3d &	direction,
		double	minDistance,
		double	maxDistance,
		double	positionTolerance,
		double	angularTolerance,
		double	initialStepSize,
		double	jointLimitTolerance,
		double	constraintCheckResolution,
		std::chrono::duration< double >	timelimit,
		planner::Planner::Result *	result = `nullptr`
	)

Plan to a trajectory that moves the end-effector by a given direction and distance.

Parameters

[in]	stateSpace	MetaSkeleton state space.
[in]	metaskeleton	MetaSkeleton to plan with
[in]	bn	Body node of the end-effector.
[in]	constraint	Trajectory-wide constraint that must be satisfied.
[in]	direction	Direction of moving the end-effector.
[in]	minDistance	Distance of moving the end-effector.
[in]	maxDistance	Max distance of moving the end-effector.
[in]	positionTolerance	How a planned trajectory is allowed to deviated from a straight line segment defined by the direction and the distance.
[in]	angularTolerance	How a planned trajectory is allowed to deviate from a given direction.
[in]	initialStepSize	Initial step size.
[in]	jointLimitTolerance	If less then this distance to joint limit, velocity is bounded in that direction to 0.
[in]	constraintCheckResolution	Resolution used in constraint checking.
[in]	timelimit	timeout in seconds.
[out]	result	information about success or failure.

Returns: Trajectory or nullptr if planning failed.

◆ planToEndEffectorPose()

aikido::trajectory::UniqueInterpolatedPtr aikido::planner::vectorfield::planToEndEffectorPose	(	const aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr &	stateSpace,
		const statespace::dart::MetaSkeletonStateSpace::State &	startState,
		::dart::dynamics::MetaSkeletonPtr	metaskeleton,
		const ::dart::dynamics::ConstBodyNodePtr &	bn,
		const aikido::constraint::ConstTestablePtr &	constraint,
		const Eigen::Isometry3d &	goalPose,
		double	goalTolerance,
		double	conversionRatioInGeodesicDistance,
		double	positionTolerance,
		double	angularTolerance,
		double	initialStepSize,
		double	jointLimitTolerance,
		double	constraintCheckResolution,
		std::chrono::duration< double >	timelimit,
		planner::Planner::Result *	result = `nullptr`
	)

Plan to an end-effector pose by following a geodesic loss function in SE(3) via an optimized Jacobian.

Parameters

[in]	stateSpace	MetaSkeleton state space.
[in]	metaskeleton	MetaSkeleton to plan with
[in]	bn	Body node of the end-effector.
[in]	constraint	Trajectory-wide constraint that must be satisfied.
[in]	goalPose	Desired end-effector pose.
[in]	goalTolerance	Geodesic distance from goal to stop planning
[in]	conversionRatioInGeodesicDistance	Conversion ratio from radian to meter in computing geodesic distance
[in]	positionTolerance	How a planned trajectory is allowed to deviate from a straight line segment.
[in]	angularTolerance	How a planned trajectory is allowed to deviate from a straight rotation.
[in]	initialStepSize	Initial step size.
[in]	jointLimitTolerance	If less then this distance to joint limit, velocity is bounded in that direction to 0.
[in]	constraintCheckResolution	Resolution used in constraint checking.
[in]	timelimit	Timeout in seconds.
[out]	result	Information about success or failure.

Returns: Trajectory or nullptr if plannin failed.

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

◆ BodyNodePoseVectorFieldPtr

◆ ConstBodyNodePoseVectorFieldPtr

◆ UniqueBodyNodePoseVectorFieldPtr

◆ UniqueConstBodyNodePoseVectorFieldPtr

◆ VectorFieldPtr

◆ WeakBodyNodePoseVectorFieldPtr

◆ WeakConstBodyNodePoseVectorFieldPtr

Enumeration Type Documentation

◆ VectorFieldPlannerStatus

Function Documentation

◆ computeGeodesicDistance()

◆ computeGeodesicError()

◆ computeGeodesicTwist()

◆ computeJointVelocityFromTwist()

◆ followVectorField()

◆ planToEndEffectorOffset()

◆ planToEndEffectorPose()