aikido::planner::dart::ConfigurationToConfiguration_to_ConfigurationToConfigurations Class Reference

Converts a non-DART ConfigurationToConfiguration planner into a DART ConfigurationToConfigurations planner. More...

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

Inheritance diagram for aikido::planner::dart::ConfigurationToConfiguration_to_ConfigurationToConfigurations:

Public Member Functions
	ConfigurationToConfiguration_to_ConfigurationToConfigurations (std::shared_ptr< aikido::planner::ConfigurationToConfigurationPlanner > planner, ::dart::dynamics::MetaSkeletonPtr metaSkeleton, distance::ConstConfigurationRankerPtr configurationRanker=nullptr)
	Constructor. More...
virtual trajectory::TrajectoryPtr	plan (const ConfigurationToConfigurations &problem, Planner::Result *result) override
Public Member Functions inherited from aikido::planner::dart::PlannerAdapter< planner::ConfigurationToConfigurationPlanner, planner::dart::ConfigurationToConfigurationsPlanner >
	PlannerAdapter (std::shared_ptr< planner::ConfigurationToConfigurationPlanner > planner, ::dart::dynamics::MetaSkeletonPtr metaSkeleton)
	Constructor to adapt non-DART planners. More...
virtual	~PlannerAdapter ()=default
	Default destructor. More...
Public Member Functions inherited from aikido::planner::dart::ConfigurationToConfigurationsPlanner
	ConfigurationToConfigurationsPlanner (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, ::dart::dynamics::MetaSkeletonPtr metaSkeleton, distance::ConstConfigurationRankerPtr configurationRanker=nullptr)
	Constructor. More...
virtual trajectory::TrajectoryPtr	plan (const SolvableProblem &problem, Result *result=nullptr)=0
	Solves problem returning the result to result. More...
Public Member Functions inherited from aikido::planner::dart::SingleProblemPlanner< Derived, ProblemT >
	SingleProblemPlanner (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, ::dart::dynamics::MetaSkeletonPtr metaSkeleton)
	Constructor. More...
statespace::dart::ConstMetaSkeletonStateSpacePtr	getMetaSkeletonStateSpace () const
	Return this planner's MetaSkeletonStateSpace. More...
::dart::dynamics::MetaSkeletonPtr	getMetaSkeleton ()
	Return this planner's MetaSkeleton. More...
Public Member Functions inherited from aikido::planner::SingleProblemPlanner< Derived, ProblemT >
	SingleProblemPlanner (statespace::ConstStateSpacePtr stateSpace, common::RNG *rng=nullptr)
	Constructs from a state space. More...
bool	canSolve (const Problem &problem) const final override
	Returns true if this planner can solve problem. More...
trajectory::TrajectoryPtr	plan (const Problem &problem, Result *result=nullptr) final override
	Solves problem returning the result to result. More...
Public Member Functions inherited from aikido::planner::Planner
	Planner (statespace::ConstStateSpacePtr stateSpace, common::RNG *rng=nullptr)
	Constructs from a state space. More...
virtual	~Planner ()=default
	Default destructor. More...
statespace::ConstStateSpacePtr	getStateSpace () const
	Returns const state space. More...
common::RNG *	getRng ()
	Returns RNG. More...

Additional Inherited Members
Public Types inherited from aikido::planner::SingleProblemPlanner< Derived, ProblemT >
using	SolvableProblem = ProblemT
Protected Attributes inherited from aikido::planner::dart::PlannerAdapter< planner::ConfigurationToConfigurationPlanner, planner::dart::ConfigurationToConfigurationsPlanner >
std::shared_ptr< planner::ConfigurationToConfigurationPlanner >	mDelegate
	Internal planner to delegate planning calls. More...
Protected Attributes inherited from aikido::planner::dart::ConfigurationToConfigurationsPlanner
distance::ConstConfigurationRankerPtr	mConfigurationRanker
Protected Attributes inherited from aikido::planner::dart::SingleProblemPlanner< Derived, ProblemT >
statespace::dart::ConstMetaSkeletonStateSpacePtr	mMetaSkeletonStateSpace
	Stores stateSpace pointer as a ConstMetaSkeletonStateSpacePtr. More...
::dart::dynamics::MetaSkeletonPtr	mMetaSkeleton
	MetaSkeleton to use for planning. More...
Protected Attributes inherited from aikido::planner::Planner
statespace::ConstStateSpacePtr	mStateSpace
	State space associated with this planner. More...
std::unique_ptr< common::RNG >	mRng
	RNG the planner uses. More...

Detailed Description

Converts a non-DART ConfigurationToConfiguration planner into a DART ConfigurationToConfigurations planner.

Constructor & Destructor Documentation

ConfigurationToConfiguration_to_ConfigurationToConfigurations()

aikido::planner::dart::ConfigurationToConfiguration_to_ConfigurationToConfigurations::ConfigurationToConfiguration_to_ConfigurationToConfigurations	(	std::shared_ptr< aikido::planner::ConfigurationToConfigurationPlanner >	planner,
		::dart::dynamics::MetaSkeletonPtr	metaSkeleton,
		distance::ConstConfigurationRankerPtr	configurationRanker = nullptr
	)

Constructor.

Parameters

[in]	planner	Non-DART ConfigurationToConfigurationPlanner planner to convert.
[in]	metaSkeleton	MetaSkeleton for adapted planner to operate on.
[in]	configurationRanker	Ranker to rank the sampled configurations. If nullptr, NominalConfigurationRanker is used with the current metaSkeleton pose.

Member Function Documentation

plan()

virtual trajectory::TrajectoryPtr aikido::planner::dart::ConfigurationToConfiguration_to_ConfigurationToConfigurations::plan ( const ConfigurationToConfigurations &  problem, Planner::Result *  result  )

overridevirtual