Base planner class for ConfigurationToEndEffectorOffset planning problem. More...

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

Inheritance diagram for aikido::planner::dart::ConfigurationToConfigurationPlanner:

Public Member Functions
	ConfigurationToConfigurationPlanner (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, ::dart::dynamics::MetaSkeletonPtr metaSkeleton)
	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< ConfigurationToConfigurationPlanner, ConfigurationToConfiguration >
	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< ConfigurationToConfigurationPlanner, ConfigurationToConfiguration >
	SingleProblemPlanner (statespace::ConstStateSpacePtr stateSpace, common::RNG *rng=nullptr)

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< ConfigurationToConfigurationPlanner, ConfigurationToConfiguration >
using	SolvableProblem = ConfigurationToConfiguration

Protected Attributes inherited from aikido::planner::dart::SingleProblemPlanner< ConfigurationToConfigurationPlanner, ConfigurationToConfiguration >
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

Base planner class for ConfigurationToEndEffectorOffset planning problem.

Constructor & Destructor Documentation

◆ ConfigurationToConfigurationPlanner()

aikido::planner::dart::ConfigurationToConfigurationPlanner::ConfigurationToConfigurationPlanner	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	stateSpace,
		::dart::dynamics::MetaSkeletonPtr	metaSkeleton
	)

Constructor.

Parameters

[in]	stateSpace	State space that this planner associated with.
[in]	metaSkeleton	MetaSkeleton to use for planning.

Member Function Documentation

◆ plan()

virtual trajectory::TrajectoryPtr aikido::planner::dart::ConfigurationToConfigurationPlanner::plan	(	const SolvableProblem &	problem,
		Result *	result = `nullptr`
	)

pure virtual

Solves problem returning the result to result.

NOTE: Because this is a DART planner, this method must both 1) lock the MetaSkeleton during planning and 2) reset the MetaSkeleton state after planning.