Executes joint command in DART. More...

#include <aikido/control/KinematicSimulationJointCommandExecutor.hpp>

Inheritance diagram for aikido::control::KinematicSimulationJointCommandExecutor< T >:

Public Member Functions
	KinematicSimulationJointCommandExecutor (::dart::dynamics::MetaSkeletonPtr metaskeleton)
	Constructor. More...

	KinematicSimulationJointCommandExecutor (std::vector<::dart::dynamics::DegreeOfFreedom * > dofs)
	DoF-only Constructor. More...

virtual	~KinematicSimulationJointCommandExecutor ()

virtual std::future< int >	execute (const std::vector< double > &command, const std::chrono::duration< double > &timeout, const std::chrono::system_clock::time_point &timepoint) override
	Execute a Joint Command, setting future upon completion. More...

virtual std::future< int >	execute (const std::vector< double > &command, const std::chrono::duration< double > &timeout=std::chrono::duration< double >(1.0)) override
	Execute a Joint Command, setting future upon completion. More...

void	step (const std::chrono::system_clock::time_point &timepoint) override
	Step to a point in time. More...

void	cancel () override
	Cancels the current command. More...

Public Member Functions inherited from aikido::control::JointCommandExecutor< T >
	JointCommandExecutor (const std::vector< dart::dynamics::DegreeOfFreedom * > dofs, const std::set< ExecutorType > otherTypes=std::set< ExecutorType >(), const std::chrono::milliseconds threadRate=defaultThreadRate)
	Constructor. More...

virtual	~JointCommandExecutor ()

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...

Private Attributes
std::vector< double >	mCommand
	Command being executed. More...

::dart::dynamics::MetaSkeletonPtr	mMetaSkeleton
	The controlled subset of mSkeleton for the currently executing command. More...

bool	mInProgress
	Whether a command is being executed. More...

std::unique_ptr< std::promise< int > >	mPromise
	Promise whose future is returned by execute() More...

std::mutex	mMutex
	Manages access to mCommand, mInProgress, mPromise. More...

std::chrono::system_clock::time_point	mExecutionStartTime
	Time of position command start (for interpolation) More...

std::vector< double >	mStartPosition
	Position at start of command (for interpolation) More...

std::chrono::duration< double >	mTimeout
	Velocity timeout. More...

Additional Inherited Members
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

template<ExecutorType T>
class aikido::control::KinematicSimulationJointCommandExecutor< T >

Executes joint command in DART.

This simulates by setting interpolated DOF positions, without running dynamic simulation.

Constructor & Destructor Documentation

◆ KinematicSimulationJointCommandExecutor() [1/2]

template<ExecutorType T>

aikido::control::KinematicSimulationJointCommandExecutor< T >::KinematicSimulationJointCommandExecutor ( ::dart::dynamics::MetaSkeletonPtr metaskeleton )

explicit

Constructor.

Parameters

metaskeleton MetaSkeleton to execute commands on.

◆ KinematicSimulationJointCommandExecutor() [2/2]

template<ExecutorType T>

aikido::control::KinematicSimulationJointCommandExecutor< T >::KinematicSimulationJointCommandExecutor ( std::vector<::dart::dynamics::DegreeOfFreedom * > dofs )

explicit

DoF-only Constructor.

Parameters

dofs	DoFs to execute commands on.

◆ ~KinematicSimulationJointCommandExecutor()

template<ExecutorType T>

aikido::control::KinematicSimulationJointCommandExecutor< T >::~KinematicSimulationJointCommandExecutor

virtual

Member Function Documentation

◆ cancel()

template<ExecutorType T>

void aikido::control::KinematicSimulationJointCommandExecutor< T >::cancel

overridevirtual

Cancels the current command.

Implements aikido::control::JointCommandExecutor< T >.

◆ execute() [1/2]

template<ExecutorType T>

std::future< int > aikido::control::KinematicSimulationJointCommandExecutor< T >::execute	(	const std::vector< double > &	command,
		const std::chrono::duration< double > &	timeout,
		const std::chrono::system_clock::time_point &	timepoint
	)

overridevirtual

Execute a Joint Command, setting future upon completion.

Note: Future should return 0 on success or timeout.

Parameters

command	Vector of joint commands, parallel with joints vector
timeout	How long until command expires
timepoint	If supplied, time to simulate to

Implements aikido::control::JointCommandExecutor< T >.

◆ execute() [2/2]

template<ExecutorType T>

virtual std::future<int> aikido::control::KinematicSimulationJointCommandExecutor< T >::execute	(	const std::vector< double > &	command,
		const std::chrono::duration< double > &	timeout = `std::chrono::duration<double>(1.0)`
	)

inlineoverridevirtual

Execute a Joint Command, setting future upon completion.

If applicable, simulate to the current time.

Note: Future should return 0 on success or timeout.

Parameters

command	Vector of joint commands, parallel with joints vector
timeout	How long until command expires

Reimplemented from aikido::control::JointCommandExecutor< T >.

◆ step()

template<ExecutorType T>

void aikido::control::KinematicSimulationJointCommandExecutor< T >::step ( const std::chrono::system_clock::time_point & timepoint )

overridevirtual

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

If multiple threads are accessing this function or the skeleton associated with this executor, it is necessary to lock the skeleton before calling this method.

Implements aikido::control::JointCommandExecutor< T >.

Member Data Documentation

◆ mCommand

template<ExecutorType T>

std::vector<double> aikido::control::KinematicSimulationJointCommandExecutor< T >::mCommand

private

Command being executed.

◆ mExecutionStartTime

template<ExecutorType T>

std::chrono::system_clock::time_point aikido::control::KinematicSimulationJointCommandExecutor< T >::mExecutionStartTime

private

Time of position command start (for interpolation)

◆ mInProgress

template<ExecutorType T>

bool aikido::control::KinematicSimulationJointCommandExecutor< T >::mInProgress

private

Whether a command is being executed.

◆ mMetaSkeleton

template<ExecutorType T>

::dart::dynamics::MetaSkeletonPtr aikido::control::KinematicSimulationJointCommandExecutor< T >::mMetaSkeleton

private

The controlled subset of mSkeleton for the currently executing command.

◆ mMutex

template<ExecutorType T>

std::mutex aikido::control::KinematicSimulationJointCommandExecutor< T >::mMutex

mutableprivate

Manages access to mCommand, mInProgress, mPromise.

◆ mPromise

template<ExecutorType T>

std::unique_ptr<std::promise<int> > aikido::control::KinematicSimulationJointCommandExecutor< T >::mPromise

private

Promise whose future is returned by execute()

◆ mStartPosition

template<ExecutorType T>

std::vector<double> aikido::control::KinematicSimulationJointCommandExecutor< T >::mStartPosition

private

Position at start of command (for interpolation)

◆ mTimeout

template<ExecutorType T>

std::chrono::duration<double> aikido::control::KinematicSimulationJointCommandExecutor< T >::mTimeout

private

Velocity timeout.

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<ExecutorType T> class aikido::control::KinematicSimulationJointCommandExecutor< T >

Constructor & Destructor Documentation

◆ KinematicSimulationJointCommandExecutor() [1/2]

◆ KinematicSimulationJointCommandExecutor() [2/2]

◆ ~KinematicSimulationJointCommandExecutor()

Member Function Documentation

◆ cancel()

◆ execute() [1/2]

◆ execute() [2/2]

◆ step()

Member Data Documentation

◆ mCommand

◆ mExecutionStartTime

◆ mInProgress

◆ mMetaSkeleton

◆ mMutex

◆ mPromise

◆ mStartPosition

◆ mTimeout

template<ExecutorType T>
class aikido::control::KinematicSimulationJointCommandExecutor< T >