aikido::planner::dart::ConfigurationToConfiguration Class Reference

Planning problem to plan to a single goal configuration. More...

#include <aikido/planner/dart/ConfigurationToConfiguration.hpp>

Inheritance diagram for aikido::planner::dart::ConfigurationToConfiguration:

Public Member Functions
	ConfigurationToConfiguration (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, ::dart::dynamics::ConstMetaSkeletonPtr metaSkeleton, const statespace::dart::MetaSkeletonStateSpace::State *goalState, constraint::ConstTestablePtr constraint=nullptr)
	Constructor. More...
	ConfigurationToConfiguration (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, const statespace::dart::MetaSkeletonStateSpace::State *startState, const statespace::dart::MetaSkeletonStateSpace::State *goalState, constraint::ConstTestablePtr constraint=nullptr)
	Constructor. More...
const std::string &	getType () const override
	Returns type of this planning problem. More...
const statespace::dart::MetaSkeletonStateSpace::State *	getStartState () const
	Returns the start state. More...
const statespace::dart::MetaSkeletonStateSpace::State *	getGoalState () const
	Returns the goal state. More...
Public Member Functions inherited from aikido::planner::Problem
	Problem (statespace::ConstStateSpacePtr stateSpace, constraint::ConstTestablePtr constraint=nullptr)
	Constructor. More...
virtual	~Problem ()=default
	Destructor. More...
statespace::ConstStateSpacePtr	getStateSpace () const
	Returns const state space. More...
constraint::ConstTestablePtr	getConstraint () const
	Returns the constraint that must be satisfied throughout the trajectory. More...

Static Public Member Functions
static const std::string &	getStaticType ()
	Returns the type of the planning problem. More...

Protected Attributes
statespace::dart::ConstMetaSkeletonStateSpacePtr	mMetaSkeletonStateSpace
	MetaSkeletonStateSpace. More...
::dart::dynamics::ConstMetaSkeletonPtr	mMetaSkeleton
	MetaSkeleton, if given. More...
statespace::dart::MetaSkeletonStateSpace::ScopedState	mStartState
	Start state. More...
statespace::dart::MetaSkeletonStateSpace::ScopedState	mGoalState
	Goal state. More...
Protected Attributes inherited from aikido::planner::Problem
statespace::ConstStateSpacePtr	mStateSpace
	State space associated with this problem. More...
constraint::ConstTestablePtr	mConstraint
	Trajectory-wide constraint that must be satisfied. More...

Detailed Description

Planning problem to plan to a single goal configuration.

Constructor & Destructor Documentation

ConfigurationToConfiguration() [1/2]

aikido::planner::dart::ConfigurationToConfiguration::ConfigurationToConfiguration	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	stateSpace,
		::dart::dynamics::ConstMetaSkeletonPtr	metaSkeleton,
		const statespace::dart::MetaSkeletonStateSpace::State *	goalState,
		constraint::ConstTestablePtr	constraint = nullptr
	)

Constructor.

Note that this constructor takes the start state from the current state of the passed MetaSkeleton.

Parameters

[in]	stateSpace	State space. param[in] metaSkeleton MetaSkeleton that getStartState will return the current state of when called.
[in]	goalState	Goal state to plan to.
[in]	constraint	Trajectory-wide constraint that must be satisfied.

ConfigurationToConfiguration() [2/2]

aikido::planner::dart::ConfigurationToConfiguration::ConfigurationToConfiguration	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	stateSpace,
		const statespace::dart::MetaSkeletonStateSpace::State *	startState,
		const statespace::dart::MetaSkeletonStateSpace::State *	goalState,
		constraint::ConstTestablePtr	constraint = nullptr
	)

Constructor.

Note that this constructor sets the start state on construction.

Parameters

[in]	stateSpace	State space.
[in]	startState	Start state to plan from.
[in]	goalState	Goal state to plan to.
[in]	constraint	Trajectory-wide constraint that must be satisfied.

Member Function Documentation

getGoalState()

const statespace::dart::MetaSkeletonStateSpace::State* aikido::planner::dart::ConfigurationToConfiguration::getGoalState

(

)

const

Returns the goal state.

getStartState()

const statespace::dart::MetaSkeletonStateSpace::State* aikido::planner::dart::ConfigurationToConfiguration::getStartState

(

)

const

Returns the start state.

getStaticType()

static const std::string& aikido::planner::dart::ConfigurationToConfiguration::getStaticType ( )

static

Returns the type of the planning problem.

getType()

const std::string& aikido::planner::dart::ConfigurationToConfiguration::getType ( ) const

overridevirtual

Returns type of this planning problem.

Implements aikido::planner::Problem.

Member Data Documentation

mGoalState

statespace::dart::MetaSkeletonStateSpace::ScopedState aikido::planner::dart::ConfigurationToConfiguration::mGoalState

protected

Goal state.

mMetaSkeleton

::dart::dynamics::ConstMetaSkeletonPtr aikido::planner::dart::ConfigurationToConfiguration::mMetaSkeleton

protected

MetaSkeleton, if given.

mMetaSkeletonStateSpace

statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::planner::dart::ConfigurationToConfiguration::mMetaSkeletonStateSpace

protected

MetaSkeletonStateSpace.

Prevents use of expensive dynamic cast on mStateSpace.

mStartState

statespace::dart::MetaSkeletonStateSpace::ScopedState aikido::planner::dart::ConfigurationToConfiguration::mStartState

protected

Start state.