aikido::planner::World Class Reference

A Kinematic world that contains a set of skeletons. More...

#include <aikido/planner/World.hpp>

Classes
struct	State

Public Member Functions
	World (const std::string &name="")
	Construct a kinematic World. More...
virtual	~World ()
std::unique_ptr< World >	clone (const std::string &newName="") const
	Create a clone of this World. More...
std::string	setName (const std::string &newName)
	Set the name of this World. More...
const std::string &	getName () const
	Get the name of this World. More...
dart::dynamics::SkeletonPtr	getSkeleton (std::size_t i) const
	Find a Skeleton by index. More...
dart::dynamics::SkeletonPtr	getSkeleton (const std::string &name) const
	Find a Skeleton by name. More...
bool	hasSkeleton (const dart::dynamics::SkeletonPtr &skel) const
	Returns true if the Skeleton is in this World. More...
std::size_t	getNumSkeletons () const
	Get the number of Skeletons. More...
std::string	addSkeleton (const dart::dynamics::SkeletonPtr &skeleton)
	Add a Skeleton to this World. More...
void	removeSkeleton (const dart::dynamics::SkeletonPtr &skeleton)
	Remove a Skeleton from this World. More...
std::mutex &	getMutex () const
	Get the mutex that protects the state of this World. More...
World::State	getState () const
	Returns the state of this World. More...
World::State	getState (const std::vector< std::string > &names) const
	Returns the state of named skeletons in this World. More...
void	setState (const World::State &state)
	Sets the state of this World to match State. More...
void	setState (const World::State &state, const std::vector< std::string > &names)
	Sets the state of named skeletons in this World to match State. More...

Static Public Member Functions
static std::unique_ptr< World >	create (const std::string &name="")
	Create a new World ptr. More...

Protected Attributes
std::string	mName
	Name of this World. More...
std::vector< dart::dynamics::SkeletonPtr >	mSkeletons
	Skeletons in this World. More...
std::mutex	mMutex
	Mutex to protect this World. More...
dart::common::NameManager< dart::dynamics::SkeletonPtr >	mSkeletonNameManager
	NameManager for keeping track of Skeletons. More...

Static Protected Attributes
static dart::common::NameManager< World * >	mWorldNameManager
	NameManager for keeping track of Worlds. More...

Detailed Description

A Kinematic world that contains a set of skeletons.

It is expected that worlds do not share the same skeletons.

Constructor & Destructor Documentation

World()

aikido::planner::World::World ( const std::string &  name = "" )

explicit

Construct a kinematic World.

Parameters

name	Name for the new World

~World()

virtual aikido::planner::World::~World ( )

virtual

Member Function Documentation

addSkeleton()

std::string aikido::planner::World::addSkeleton

(

const dart::dynamics::SkeletonPtr &

skeleton

)

Add a Skeleton to this World.

Parameters

skeleton

Skeleton to add to the World

clone()

std::unique_ptr<World> aikido::planner::World::clone

(

const std::string &

newName = ""

)

const

Create a clone of this World.

All Skeletons will be copied over.

Parameters

newName

Name for the cloned World

create()

static std::unique_ptr<World> aikido::planner::World::create ( const std::string &  name = "" )

static

Create a new World ptr.

Parameters

name	Name for the new World

getMutex()

std::mutex& aikido::planner::World::getMutex

(

)

const

Get the mutex that protects the state of this World.

getName()

const std::string& aikido::planner::World::getName

(

)

const

Get the name of this World.

getNumSkeletons()

std::size_t aikido::planner::World::getNumSkeletons

(

)

const

Get the number of Skeletons.

getSkeleton() [1/2]

dart::dynamics::SkeletonPtr aikido::planner::World::getSkeleton

(

const std::string &

name

)

const

Find a Skeleton by name.

Parameters

name	Name of desired Skeleton

getSkeleton() [2/2]

dart::dynamics::SkeletonPtr aikido::planner::World::getSkeleton

(

std::size_t

i

)

const

Find a Skeleton by index.

Parameters

i	Index of desired Skeleton

getState() [1/2]

World::State aikido::planner::World::getState

(

)

const

Returns the state of this World.

Returns

State

getState() [2/2]

World::State aikido::planner::World::getState

(

const std::vector< std::string > &

names

)

const

Returns the state of named skeletons in this World.

Parameters

names

Names of skeletons that should be in the state

Returns

State

hasSkeleton()

bool aikido::planner::World::hasSkeleton

(

const dart::dynamics::SkeletonPtr &

skel

)

const

Returns true if the Skeleton is in this World.

Parameters

skel	Desired Skeleton

Returns

True if succeeded to find the Skeleton

removeSkeleton()

void aikido::planner::World::removeSkeleton

(

const dart::dynamics::SkeletonPtr &

skeleton

)

Remove a Skeleton from this World.

Parameters

skeleton

Skeleton to remove from the World

setName()

std::string aikido::planner::World::setName

(

const std::string &

newName

)

Set the name of this World.

Parameters

newName

New name for this World

setState() [1/2]

void aikido::planner::World::setState

(

const World::State &

state

)

Sets the state of this World to match State.

The caller of this method MUST LOCK the mutex of this World.

Parameters

state

State to set this world to.

setState() [2/2]

void aikido::planner::World::setState	(	const World::State &	state,
		const std::vector< std::string > &	names
	)

Sets the state of named skeletons in this World to match State.

The caller of this method MUST LOCK the mutex of this World.

Parameters

state	State to set this world to.
names	Names of skeletons in the state

Member Data Documentation

mMutex

std::mutex aikido::planner::World::mMutex

mutableprotected

Mutex to protect this World.

mName

std::string aikido::planner::World::mName

protected

Name of this World.

mSkeletonNameManager

dart::common::NameManager<dart::dynamics::SkeletonPtr> aikido::planner::World::mSkeletonNameManager

protected

NameManager for keeping track of Skeletons.

mSkeletons

std::vector<dart::dynamics::SkeletonPtr> aikido::planner::World::mSkeletons

protected

Skeletons in this World.

mWorldNameManager

dart::common::NameManager<World*> aikido::planner::World::mWorldNameManager

staticprotected

NameManager for keeping track of Worlds.