JointStateSpaceHelpers.hpp

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#ifndef AIKIDO_CONSTRAINT_DART_JOINTSTATESPACEHELPERS_HPP_
#define AIKIDO_CONSTRAINT_DART_JOINTSTATESPACEHELPERS_HPP_
 
#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"
 
namespace aikido {
namespace constraint {
namespace dart {
 
template <class Space>
std::unique_ptr<Differentiable> createDifferentiableBoundsFor(
    std::shared_ptr<Space> _stateSpace);
 
std::unique_ptr<Differentiable> createDifferentiableBounds(
    std::shared_ptr<const statespace::dart::JointStateSpace> _stateSpace);
 
std::unique_ptr<Differentiable> createDifferentiableBounds(
    statespace::dart::ConstMetaSkeletonStateSpacePtr _metaSkeleton);
 
template <class Space>
std::unique_ptr<Projectable> createProjectableBoundsFor(
    std::shared_ptr<Space> _stateSpace);
 
std::unique_ptr<Projectable> createProjectableBounds(
    std::shared_ptr<const statespace::dart::JointStateSpace> _stateSpace);
 
std::unique_ptr<Projectable> createProjectableBounds(
    statespace::dart::ConstMetaSkeletonStateSpacePtr _metaSkeleton);
 
template <class Space>
std::unique_ptr<Testable> createTestableBoundsFor(
    std::shared_ptr<Space> _stateSpace);
 
std::unique_ptr<Testable> createTestableBounds(
    std::shared_ptr<const statespace::dart::JointStateSpace> _stateSpace);
 
std::unique_ptr<Testable> createTestableBounds(
    statespace::dart::ConstMetaSkeletonStateSpacePtr _metaSkeleton);
 
template <class Space>
std::unique_ptr<Sampleable> createSampleableBoundsFor(
    std::shared_ptr<Space> _stateSpace, std::unique_ptr<common::RNG> _rng);
 
std::unique_ptr<Sampleable> createSampleableBounds(
    std::shared_ptr<const statespace::dart::JointStateSpace> _stateSpace,
    std::unique_ptr<common::RNG> _rng);
 
std::unique_ptr<Sampleable> createSampleableBounds(
    statespace::dart::ConstMetaSkeletonStateSpacePtr _metaSkeleton,
    std::unique_ptr<common::RNG> _rng);
 
} // namespace dart
} // namespace constraint
} // namespace aikido
 
#include "detail/JointStateSpaceHelpers-impl.hpp"
 
#endif // AIKIDO_CONSTRAINT_DART_JOINTSTATESPACEHELPERS_HPP_