aikido::constraint::CartesianProductProjectable Class Reference

A Projectable for CompoundStates. More...

#include <aikido/constraint/CartesianProductProjectable.hpp>

Inheritance diagram for aikido::constraint::CartesianProductProjectable:

Public Member Functions
	CartesianProductProjectable (std::shared_ptr< const statespace::CartesianProduct > _stateSpace, std::vector< ProjectablePtr > _constraints)
	Constructor. More...
statespace::ConstStateSpacePtr	getStateSpace () const override
	Gets the StateSpace that this constraint operates on. More...
bool	project (const statespace::StateSpace::State *_s, statespace::StateSpace::State *_out) const override
	Projection _s to _out. 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...

Private Attributes
std::shared_ptr< const statespace::CartesianProduct >	mStateSpace
std::vector< ProjectablePtr >	mConstraints

Detailed Description

A Projectable for CompoundStates.

It takes in a set of Projectables and project i-th substate to i-th constraint.

Constructor & Destructor Documentation

CartesianProductProjectable()

aikido::constraint::CartesianProductProjectable::CartesianProductProjectable	(	std::shared_ptr< const statespace::CartesianProduct >	_stateSpace,
		std::vector< ProjectablePtr >	_constraints
	)

Constructor.

Parameters

_stateSpace	CartesianProduct in which this constraint operates.
_constraints	Set of constraints. The size of _constraints should match the number of subspaces in _stateSpace. i-th constraint applies to i-th subspace.

Member Function Documentation

getStateSpace()

statespace::ConstStateSpacePtr aikido::constraint::CartesianProductProjectable::getStateSpace ( ) const

overridevirtual

Gets the StateSpace that this constraint operates on.

Implements aikido::constraint::Projectable.

project()

bool aikido::constraint::CartesianProductProjectable::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

mConstraints

std::vector<ProjectablePtr> aikido::constraint::CartesianProductProjectable::mConstraints

private

mStateSpace

std::shared_ptr<const statespace::CartesianProduct> aikido::constraint::CartesianProductProjectable::mStateSpace

private