aikido::constraint::CartesianProductSampleable Class Reference

Sampleable for CompoundStates. More...

#include <aikido/constraint/CartesianProductSampleable.hpp>

Inheritance diagram for aikido::constraint::CartesianProductSampleable:

Public Member Functions
	CartesianProductSampleable (std::shared_ptr< const statespace::CartesianProduct > _stateSpace, std::vector< std::shared_ptr< Sampleable >> _constraints)
	Constructor. More...
statespace::ConstStateSpacePtr	getStateSpace () const override
	Gets the StateSpace that this constraint operates on. More...
std::unique_ptr< SampleGenerator >	createSampleGenerator () const override
	Creates a SampleGenerator for sampling from this constraint. More...
Public Member Functions inherited from aikido::constraint::Sampleable
virtual	~Sampleable ()=default

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

Detailed Description

Sampleable for CompoundStates.

It takes in a set of Sampleables and its SampleGenerators sample i-th substate from the i-th Sampleable.

Constructor & Destructor Documentation

CartesianProductSampleable()

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

Constructor.

Parameters

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

Member Function Documentation

createSampleGenerator()

std::unique_ptr<SampleGenerator> aikido::constraint::CartesianProductSampleable::createSampleGenerator ( ) const

overridevirtual

Creates a SampleGenerator for sampling from this constraint.

Implements aikido::constraint::Sampleable.

getStateSpace()

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

overridevirtual

Gets the StateSpace that this constraint operates on.

Implements aikido::constraint::Sampleable.

Member Data Documentation

mConstraints

std::vector<std::shared_ptr<Sampleable> > aikido::constraint::CartesianProductSampleable::mConstraints

private

mStateSpace

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

private