Executes trajectories in DART. More...

#include <aikido/control/KinematicSimulationTrajectoryExecutor.hpp>

Inheritance diagram for aikido::control::KinematicSimulationTrajectoryExecutor:

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

virtual	~KinematicSimulationTrajectoryExecutor ()

void	validate (const trajectory::Trajectory *traj) override
	Validate the traj in preparation for execution. More...

std::future< void >	execute (const trajectory::ConstTrajectoryPtr &traj) override
	Execute traj and set 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 trajectory. More...

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

virtual	~TrajectoryExecutor ()=default

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
::dart::dynamics::MetaSkeletonPtr	mMetaSkeleton
	MetaSkeleton to execute trajectories on. More...

trajectory::ConstTrajectoryPtr	mTraj
	Trajectory being executed. More...

statespace::dart::ConstMetaSkeletonStateSpacePtr	mStateSpace
	Trajectory's MetaSkeletonStateSpace. More...

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

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

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

Additional Inherited Members
Protected Attributes inherited from aikido::control::TrajectoryExecutor
std::set< const trajectory::Trajectory * >	mValidatedTrajectories
	Set of trajectories validated by executor. More...

std::chrono::system_clock::time_point	mExecutionStartTime
	Time of previous call. More...

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

Executes trajectories in DART.

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

Constructor & Destructor Documentation

◆ KinematicSimulationTrajectoryExecutor()

aikido::control::KinematicSimulationTrajectoryExecutor::KinematicSimulationTrajectoryExecutor ( ::dart::dynamics::MetaSkeletonPtr metaskeleton )

explicit

Constructor.

Parameters

metaskeleton MetaSkeleton to execute trajectories on. All trajectories must have dofs only in this skeleton.

◆ ~KinematicSimulationTrajectoryExecutor()

virtual aikido::control::KinematicSimulationTrajectoryExecutor::~KinematicSimulationTrajectoryExecutor ( )

virtual

Member Function Documentation

◆ cancel()

void aikido::control::KinematicSimulationTrajectoryExecutor::cancel ( )

overridevirtual

Cancels the current trajectory.

Implements aikido::control::TrajectoryExecutor.

◆ execute()

std::future<void> aikido::control::KinematicSimulationTrajectoryExecutor::execute ( const trajectory::ConstTrajectoryPtr & traj )

overridevirtual

Execute traj and set future upon completion.

Parameters

traj	Trajectory to be executed. Its StateSpace should be a MetaSkeletonStateSpace, where the dofs are all in the skeleton passed to this constructor.

Returns: future<void> for trajectory execution. If trajectory terminates before completion, future will be set to a runtime_error.

Exceptions

invalid_argument if traj is invalid.

Implements aikido::control::TrajectoryExecutor.

◆ step()

void aikido::control::KinematicSimulationTrajectoryExecutor::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::TrajectoryExecutor.

◆ validate()

void aikido::control::KinematicSimulationTrajectoryExecutor::validate ( const trajectory::Trajectory * traj )

overridevirtual

Validate the traj in preparation for execution.

Parameters

traj	Trajectory to be validated

Implements aikido::control::TrajectoryExecutor.

Member Data Documentation

◆ mInProgress

bool aikido::control::KinematicSimulationTrajectoryExecutor::mInProgress

private

Whether a trajectory is being executed.

◆ mMetaSkeleton

::dart::dynamics::MetaSkeletonPtr aikido::control::KinematicSimulationTrajectoryExecutor::mMetaSkeleton

private

MetaSkeleton to execute trajectories on.

◆ mMutex

std::mutex aikido::control::KinematicSimulationTrajectoryExecutor::mMutex

mutableprivate

Manages access to mTraj, mInProgress, mPromise.

◆ mPromise

std::unique_ptr<std::promise<void> > aikido::control::KinematicSimulationTrajectoryExecutor::mPromise

private

Promise whose future is returned by execute()

◆ mStateSpace

statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::control::KinematicSimulationTrajectoryExecutor::mStateSpace

private

Trajectory's MetaSkeletonStateSpace.

◆ mTraj

trajectory::ConstTrajectoryPtr aikido::control::KinematicSimulationTrajectoryExecutor::mTraj

private

Trajectory being executed.

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ KinematicSimulationTrajectoryExecutor()

◆ ~KinematicSimulationTrajectoryExecutor()

Member Function Documentation

◆ cancel()

◆ execute()

◆ step()

◆ validate()

Member Data Documentation

◆ mInProgress

◆ mMetaSkeleton

◆ mMutex

◆ mPromise

◆ mStateSpace

◆ mTraj