ConfigurationToEndEffectorOffset.hpp

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#ifndef AIKIDO_PLANNER_DART_CONFIGURATIONTOENDEFFECTOROFFSET_HPP_
#define AIKIDO_PLANNER_DART_CONFIGURATIONTOENDEFFECTOROFFSET_HPP_
 
#include <boost/optional.hpp>
#include <dart/dart.hpp>
 
#include "aikido/constraint/Testable.hpp"
#include "aikido/planner/Problem.hpp"
#include "aikido/statespace/dart/MetaSkeletonStateSpace.hpp"
#include "aikido/trajectory/Interpolated.hpp"
 
namespace aikido {
namespace planner {
namespace dart {
 
class ConfigurationToEndEffectorOffset : public Problem
{
public:
  ConfigurationToEndEffectorOffset(
      statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace,
      ::dart::dynamics::ConstMetaSkeletonPtr metaSkeleton,
      ::dart::dynamics::ConstBodyNodePtr endEffectorBodyNode,
      const Eigen::Vector3d& direction,
      double signedDistance,
      constraint::ConstTestablePtr constraint = nullptr);
 
  ConfigurationToEndEffectorOffset(
      statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace,
      const statespace::dart::MetaSkeletonStateSpace::State* startState,
      ::dart::dynamics::ConstBodyNodePtr endEffectorBodyNode,
      const Eigen::Vector3d& direction,
      double signedDistance,
      constraint::ConstTestablePtr constraint = nullptr);
 
  ConfigurationToEndEffectorOffset(
      statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace,
      ::dart::dynamics::ConstMetaSkeletonPtr metaSkeleton,
      ::dart::dynamics::ConstBodyNodePtr endEffectorBodyNode,
      double signedDistance,
      constraint::ConstTestablePtr constraint = nullptr);
 
  ConfigurationToEndEffectorOffset(
      statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace,
      const statespace::dart::MetaSkeletonStateSpace::State* startState,
      ::dart::dynamics::ConstBodyNodePtr endEffectorBodyNode,
      double signedDistance,
      constraint::ConstTestablePtr constraint = nullptr);
 
  // Documentation inherited.
  const std::string& getType() const override;
 
  static const std::string& getStaticType();
 
  ::dart::dynamics::ConstBodyNodePtr getEndEffectorBodyNode() const;
 
  const statespace::dart::MetaSkeletonStateSpace::State* getStartState() const;
 
  Eigen::Vector3d getDirection() const;
 
  double getDistance() const;
 
protected:
  statespace::dart::ConstMetaSkeletonStateSpacePtr mMetaSkeletonStateSpace;
 
  ::dart::dynamics::ConstMetaSkeletonPtr mMetaSkeleton;
 
  statespace::dart::MetaSkeletonStateSpace::ScopedState mStartState;
 
  const ::dart::dynamics::ConstBodyNodePtr mEndEffectorBodyNode;
 
  const boost::optional<Eigen::Vector3d> mDirection;
 
  const double mDistance;
};
 
} // namespace dart
} // namespace planner
} // namespace aikido
 
#endif // AIKIDO_PLANNER_DART_CONFIGURATIONTOENDEFFECTOROFFSET_HPP_