JointStateSpaceHelpers.hpp File Reference

#include "aikido/constraint/Differentiable.hpp"
#include "aikido/constraint/Projectable.hpp"
#include "aikido/constraint/Sampleable.hpp"
#include "aikido/constraint/Testable.hpp"
#include "aikido/statespace/dart/JointStateSpace.hpp"
#include "aikido/statespace/dart/MetaSkeletonStateSpace.hpp"
#include "detail/JointStateSpaceHelpers-impl.hpp"

Go to the source code of this file.

Namespaces
	aikido
	Format of serialized trajectory in YAML.
	aikido::constraint
	aikido::constraint::dart

Functions
template<class Space >
std::unique_ptr< Differentiable >	aikido::constraint::dart::createDifferentiableBoundsFor (std::shared_ptr< Space > _stateSpace)
	Create differentiable bounds that can be applied to the given StateSpace. More...
std::unique_ptr< Differentiable >	aikido::constraint::dart::createDifferentiableBounds (std::shared_ptr< const statespace::dart::JointStateSpace > _stateSpace)
	Create differentiable bounds that can be applied to the given StateSpace The differentiable bounds are created from the joint limits set on the dart joint wrapped by the JointStateSpace. More...
std::unique_ptr< Differentiable >	aikido::constraint::dart::createDifferentiableBounds (statespace::dart::ConstMetaSkeletonStateSpacePtr _metaSkeleton)
	Create a set of Differentiable constraints for each joint in the MetaSkeleton wrapped by the state space. More...
template<class Space >
std::unique_ptr< Projectable >	aikido::constraint::dart::createProjectableBoundsFor (std::shared_ptr< Space > _stateSpace)
	Create a Projectable that can be used to project a state from the given StateSpace back within bounds set on the StateSpace. More...
std::unique_ptr< Projectable >	aikido::constraint::dart::createProjectableBounds (std::shared_ptr< const statespace::dart::JointStateSpace > _stateSpace)
	Create a Projectable that can be used to project the value of a joint back within joint limits. More...
std::unique_ptr< Projectable >	aikido::constraint::dart::createProjectableBounds (statespace::dart::ConstMetaSkeletonStateSpacePtr _metaSkeleton)
	Create a set of Projectable constraints for each joint in the MetaSkeleton wrapped by the state space. More...
template<class Space >
std::unique_ptr< Testable >	aikido::constraint::dart::createTestableBoundsFor (std::shared_ptr< Space > _stateSpace)
	Create a Testable constraint that can be used to determine if a given state lies within bounds set on the StateSpace. More...
std::unique_ptr< Testable >	aikido::constraint::dart::createTestableBounds (std::shared_ptr< const statespace::dart::JointStateSpace > _stateSpace)
	Create a Testable constraint that can be used to determine if the value of a joint is within the joint limits. More...
std::unique_ptr< Testable >	aikido::constraint::dart::createTestableBounds (statespace::dart::ConstMetaSkeletonStateSpacePtr _metaSkeleton)
	Create a set of Testable constraints for each joint in the MetaSkeleton wrapped by the state space. More...
template<class Space >
std::unique_ptr< Sampleable >	aikido::constraint::dart::createSampleableBoundsFor (std::shared_ptr< Space > _stateSpace, std::unique_ptr< common::RNG > _rng)
	Create a Sampleable constraint that can be used to sample a state that is guarenteed to lie within bounds define on the StateSpace. More...
std::unique_ptr< Sampleable >	aikido::constraint::dart::createSampleableBounds (std::shared_ptr< const statespace::dart::JointStateSpace > _stateSpace, std::unique_ptr< common::RNG > _rng)
	Create a Sampleabe constraint that can be used to sample values for the joint that are guarenteed to be within joint limits. More...
std::unique_ptr< Sampleable >	aikido::constraint::dart::createSampleableBounds (statespace::dart::ConstMetaSkeletonStateSpacePtr _metaSkeleton, std::unique_ptr< common::RNG > _rng)
	Create a Sampleable constraint that can be used to sampel values for all joints in a MetaSkeleton. More...