aikido::constraint::uniform::SE2BoxConstraint Class Reference

A BoxConstraint on SE2. More...

#include <aikido/constraint/uniform/SE2BoxConstraint.hpp>

Inheritance diagram for aikido::constraint::uniform::SE2BoxConstraint:

Public Member Functions
	SE2BoxConstraint (std::shared_ptr< const statespace::SE2 > space, std::unique_ptr< common::RNG > rng, const Eigen::Vector2d &lowerLimits, const Eigen::Vector2d &upperLimits)
	Constructor. More...
statespace::ConstStateSpacePtr	getStateSpace () const override
	Gets the StateSpace that this constraint operates on. More...
bool	isSatisfied (const statespace::StateSpace::State *state, TestableOutcome *outcome=nullptr) const override
	Documentation inherited. More...
std::unique_ptr< TestableOutcome >	createOutcome () const override
	Return an instance of DefaultTestableOutcome, since this class doesn't have a more specialized TestableOutcome derivative assigned to it. More...
bool	project (const statespace::StateSpace::State *s, statespace::StateSpace::State *out) const override
	Projection _s to _out. More...
std::unique_ptr< constraint::SampleGenerator >	createSampleGenerator () const override
	Creates a SampleGenerator for sampling from this constraint. More...
Eigen::Vector2d	getLowerLimits () const
	Returns lower limits of this constraint. More...
Eigen::Vector2d	getUpperLimits () const
	Returns upper limits of this constraint. More...
Public Member Functions inherited from aikido::constraint::Projectable
virtual	~Projectable ()=default
virtual bool	project (statespace::StateSpace::State *_s) const
	Performs an in-place projection. More...
Public Member Functions inherited from aikido::constraint::Sampleable
virtual	~Sampleable ()=default
Public Member Functions inherited from aikido::constraint::Testable
virtual	~Testable ()=default

Private Attributes
std::shared_ptr< const statespace::SE2 >	mSpace
std::unique_ptr< common::RNG >	mRng
Eigen::Vector3d	mLowerLimits
	Lower limits on the state. More...
Eigen::Vector3d	mUpperLimits
	Upper limits on the state. More...
std::size_t	mRnDimension
std::size_t	mDimension

Detailed Description

A BoxConstraint on SE2.

This class does not allow constraint on rotation. For each dimension x and y, this constraint has lowerLimit and upperLimit.

Constructor & Destructor Documentation

SE2BoxConstraint()

aikido::constraint::uniform::SE2BoxConstraint::SE2BoxConstraint	(	std::shared_ptr< const statespace::SE2 >	space,
		std::unique_ptr< common::RNG >	rng,
		const Eigen::Vector2d &	lowerLimits,
		const Eigen::Vector2d &	upperLimits
	)

Constructor.

Parameters

space	Space in which this constraint operates.
rng	Random number generator to be used for sampling.
lowerLimits	Lower limits on the state, only on x and y.
upperLimits	Upper limits on the state, only on x and y.

Member Function Documentation

createOutcome()

std::unique_ptr<TestableOutcome> aikido::constraint::uniform::SE2BoxConstraint::createOutcome ( ) const

overridevirtual

Return an instance of DefaultTestableOutcome, since this class doesn't have a more specialized TestableOutcome derivative assigned to it.

Implements aikido::constraint::Testable.

createSampleGenerator()

std::unique_ptr<constraint::SampleGenerator> aikido::constraint::uniform::SE2BoxConstraint::createSampleGenerator ( ) const

overridevirtual

Creates a SampleGenerator for sampling from this constraint.

Implements aikido::constraint::Sampleable.

getLowerLimits()

Eigen::Vector2d aikido::constraint::uniform::SE2BoxConstraint::getLowerLimits

(

)

const

Returns lower limits of this constraint.

getStateSpace()

statespace::ConstStateSpacePtr aikido::constraint::uniform::SE2BoxConstraint::getStateSpace ( ) const

overridevirtual

Gets the StateSpace that this constraint operates on.

Implements aikido::constraint::Projectable.

getUpperLimits()

Eigen::Vector2d aikido::constraint::uniform::SE2BoxConstraint::getUpperLimits

(

)

const

Returns upper limits of this constraint.

isSatisfied()

bool aikido::constraint::uniform::SE2BoxConstraint::isSatisfied ( const statespace::StateSpace::State *  state, TestableOutcome *  outcome = nullptr  ) const

overridevirtual

Documentation inherited.

Implements aikido::constraint::Testable.

project()

bool aikido::constraint::uniform::SE2BoxConstraint::project ( const statespace::StateSpace::State *  _s, statespace::StateSpace::State *  _out  ) const

overridevirtual

Projection _s to _out.

Returns false if projection cannot be done.

Parameters

_s	state to be projected.
_out	resulting projection.

Implements aikido::constraint::Projectable.

Member Data Documentation

mDimension

std::size_t aikido::constraint::uniform::SE2BoxConstraint::mDimension

private

mLowerLimits

Eigen::Vector3d aikido::constraint::uniform::SE2BoxConstraint::mLowerLimits

private

Lower limits on the state.

The first two elements encode the translational limits and the last element encodes the rotational limit.

mRnDimension

std::size_t aikido::constraint::uniform::SE2BoxConstraint::mRnDimension

private

mRng

std::unique_ptr<common::RNG> aikido::constraint::uniform::SE2BoxConstraint::mRng

private

mSpace

std::shared_ptr<const statespace::SE2> aikido::constraint::uniform::SE2BoxConstraint::mSpace

private

mUpperLimits

Eigen::Vector3d aikido::constraint::uniform::SE2BoxConstraint::mUpperLimits

private

Upper limits on the state.

The first two elements encode the translational limits and the last element encodes the rotational limit.