Robot interface for defining basic behaviors of a robot. More...

#include <aikido/robot/Robot.hpp>

Inheritance diagram for aikido::robot::Robot:

Public Member Functions
virtual	~Robot ()=default

virtual std::unique_ptr< aikido::trajectory::Spline >	smoothPath (const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const aikido::trajectory::Trajectory *path, const constraint::TestablePtr &constraint)=0
	Returns a timed trajectory that can be executed by the robot. More...

virtual std::unique_ptr< aikido::trajectory::Spline >	retimePath (const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const aikido::trajectory::Trajectory *path)=0
	Returns a timed trajectory that can be executed by the robot. More...

virtual std::unique_ptr< aikido::trajectory::Spline >	retimePathWithKunz (const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const aikido::trajectory::Trajectory *path, double maxDeviation, double timestep)=0
	Returns a timed trajectory computed with KunzRetimer. More...

virtual std::future< void >	executeTrajectory (const trajectory::TrajectoryPtr &trajectory) const =0
	Executes a trajectory. More...

virtual boost::optional< Eigen::VectorXd >	getNamedConfiguration (const std::string &name) const =0
	Returns a named configuration. More...

virtual void	setNamedConfigurations (std::unordered_map< std::string, const Eigen::VectorXd > namedConfigurations)=0
	Sets the list of named configurations. More...

virtual std::string	getName () const =0

virtual dart::dynamics::ConstMetaSkeletonPtr	getMetaSkeleton () const =0

dart::dynamics::MetaSkeletonPtr	getMetaSkeleton ()

virtual aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr	getStateSpace () const =0

aikido::statespace::dart::MetaSkeletonStateSpacePtr	getStateSpace ()

virtual void	setRoot (Robot *robot)=0
	Sets the root of this robot. More...

virtual void	step (const std::chrono::system_clock::time_point &timepoint)=0
	Simulates up to the provided timepoint. More...

virtual constraint::dart::CollisionFreePtr	getSelfCollisionConstraint (const statespace::dart::ConstMetaSkeletonStateSpacePtr &space, const dart::dynamics::MetaSkeletonPtr &metaSkeleton) const =0
	Returns self-collision constraint. More...

virtual constraint::TestablePtr	getFullCollisionConstraint (const statespace::dart::ConstMetaSkeletonStateSpacePtr &space, const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const constraint::dart::CollisionFreePtr &collisionFree) const =0
	TODO: Consider changing this to return a CollisionFreePtr. More...

Detailed Description

Robot interface for defining basic behaviors of a robot.

A concrete implementation of robot should support a collection of planning methods.

Constructor & Destructor Documentation

◆ ~Robot()

virtual aikido::robot::Robot::~Robot ( )

virtualdefault

Member Function Documentation

◆ executeTrajectory()

virtual std::future<void> aikido::robot::Robot::executeTrajectory ( const trajectory::TrajectoryPtr & trajectory ) const

pure virtual

Executes a trajectory.

Parameters

[in] trajectory Timed trajectory to execute

Implemented in aikido::robot::ConcreteRobot, and aikido::robot::ConcreteManipulator.

◆ getFullCollisionConstraint()

virtual constraint::TestablePtr aikido::robot::Robot::getFullCollisionConstraint	(	const statespace::dart::ConstMetaSkeletonStateSpacePtr &	space,
		const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const constraint::dart::CollisionFreePtr &	collisionFree
	)		const

pure virtual

TODO: Consider changing this to return a CollisionFreePtr.

Combines provided collision constraint with self collision constraint.

Parameters

[in]	space	Space in which this collision constraint operates.
[in]	metaSkeleton	Metaskeleton for the statespace.
[in]	collisionFree	Collision constraint.

Returns: Combined constraint.

Implemented in aikido::robot::ConcreteRobot, and aikido::robot::ConcreteManipulator.

◆ getMetaSkeleton() [1/2]

dart::dynamics::MetaSkeletonPtr aikido::robot::Robot::getMetaSkeleton ( )

Returns: MetaSkeleton of this robot.

◆ getMetaSkeleton() [2/2]

virtual dart::dynamics::ConstMetaSkeletonPtr aikido::robot::Robot::getMetaSkeleton ( ) const

pure virtual

Returns: [const] MetaSkeleton of this robot.

Implemented in aikido::robot::ConcreteRobot, and aikido::robot::ConcreteManipulator.

◆ getName()

virtual std::string aikido::robot::Robot::getName ( ) const

pure virtual

Returns: Name of this Robot

Implemented in aikido::robot::ConcreteRobot, and aikido::robot::ConcreteManipulator.

◆ getNamedConfiguration()

virtual boost::optional<Eigen::VectorXd> aikido::robot::Robot::getNamedConfiguration ( const std::string & name ) const

pure virtual

Returns a named configuration.

Parameters

[in] name Name of the configuration

Returns: Configuration

Implemented in aikido::robot::ConcreteRobot, and aikido::robot::ConcreteManipulator.

◆ getSelfCollisionConstraint()

virtual constraint::dart::CollisionFreePtr aikido::robot::Robot::getSelfCollisionConstraint	(	const statespace::dart::ConstMetaSkeletonStateSpacePtr &	space,
		const dart::dynamics::MetaSkeletonPtr &	metaSkeleton
	)		const

pure virtual

Returns self-collision constraint.

Parameters

[in]	space	Space in which this collision constraint operates.
[in]	metaSkeleton	Metaskeleton for the statespace.

Implemented in aikido::robot::ConcreteRobot, and aikido::robot::ConcreteManipulator.

◆ getStateSpace() [1/2]

aikido::statespace::dart::MetaSkeletonStateSpacePtr aikido::robot::Robot::getStateSpace ( )

Returns: MetaSkeletonStateSpace of this robot.

◆ getStateSpace() [2/2]

virtual aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::robot::Robot::getStateSpace ( ) const

pure virtual

Returns: [const] MetaSkeletonStateSpace of this robot.

Implemented in aikido::robot::ConcreteRobot, and aikido::robot::ConcreteManipulator.

◆ retimePath()

virtual std::unique_ptr<aikido::trajectory::Spline> aikido::robot::Robot::retimePath	(	const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const aikido::trajectory::Trajectory *	path
	)

pure virtual

Returns a timed trajectory that can be executed by the robot.

Parameters

[in]	metaSkeleton	Metaskeleton of the path.
[in]	path	Geometric path to execute.

Implemented in aikido::robot::ConcreteRobot, and aikido::robot::ConcreteManipulator.

◆ retimePathWithKunz()

virtual std::unique_ptr<aikido::trajectory::Spline> aikido::robot::Robot::retimePathWithKunz	(	const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const aikido::trajectory::Trajectory *	path,
		double	maxDeviation,
		double	timestep
	)

pure virtual

Returns a timed trajectory computed with KunzRetimer.

Parameters

[in]	metaSkeleton	Metaskeleton of the path.
[in]	path	Geometric path to execute.
[in]	maxDeviation	Maximum deviation allowed from original path.
[in]	timestep	Time step between trajectory points.

Implemented in aikido::robot::ConcreteRobot, and aikido::robot::ConcreteManipulator.

◆ setNamedConfigurations()

virtual void aikido::robot::Robot::setNamedConfigurations ( std::unordered_map< std::string, const Eigen::VectorXd > namedConfigurations )

pure virtual

Sets the list of named configurations.

Parameters

[in] namedConfigurations Map of name, configuration

Implemented in aikido::robot::ConcreteRobot, and aikido::robot::ConcreteManipulator.

◆ setRoot()

virtual void aikido::robot::Robot::setRoot ( Robot * robot )

pure virtual

Sets the root of this robot.

Parameters

[in] robot Parent robot

Implemented in aikido::robot::ConcreteRobot, and aikido::robot::ConcreteManipulator.

◆ smoothPath()

virtual std::unique_ptr<aikido::trajectory::Spline> aikido::robot::Robot::smoothPath	(	const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const aikido::trajectory::Trajectory *	path,
		const constraint::TestablePtr &	constraint
	)

pure virtual

Returns a timed trajectory that can be executed by the robot.

Parameters

[in]	metaSkeleton	Metaskeleton of the path.
[in]	path	Geometric path to execute.
[in]	constraint	Must be satisfied after postprocessing. Typically collision constraint is passed.

Implemented in aikido::robot::ConcreteRobot, and aikido::robot::ConcreteManipulator.

◆ step()

virtual void aikido::robot::Robot::step ( const std::chrono::system_clock::time_point & timepoint )

pure virtual

Simulates up to the provided timepoint.

Note: Assumes that the robot's skeleton is locked.

Parameters

[in] timepoint Time to simulate to.

Implemented in aikido::robot::ConcreteRobot, and aikido::robot::ConcreteManipulator.

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~Robot()

Member Function Documentation

◆ executeTrajectory()

◆ getFullCollisionConstraint()

◆ getMetaSkeleton() [1/2]

◆ getMetaSkeleton() [2/2]

◆ getName()

◆ getNamedConfiguration()

◆ getSelfCollisionConstraint()

◆ getStateSpace() [1/2]

◆ getStateSpace() [2/2]

◆ retimePath()

◆ retimePathWithKunz()

◆ setNamedConfigurations()

◆ setRoot()

◆ smoothPath()

◆ step()