aikido::statespace::dart::MetaSkeletonStateSaver Class Reference

RAII class to save and restore a MetaSkeleton's state. More...

#include <aikido/statespace/dart/MetaSkeletonStateSaver.hpp>

Public Types
enum	Options { POSITIONS = 1 << 0, POSITION_LIMITS = 1 << 1 }
	Options to specify what MetaSkeletonStateSaver should save. More...

Public Member Functions
	MetaSkeletonStateSaver (::dart::dynamics::MetaSkeletonPtr metaskeleton, int options=POSITIONS|POSITION_LIMITS)
	Construct a MetaSkeletonStateSaver and save the current state of the MetaSkeleton. More...
virtual	~MetaSkeletonStateSaver ()
	MetaSkeletonStateSaver (const MetaSkeletonStateSaver &)=delete
MetaSkeletonStateSaver &	operator= (const MetaSkeletonStateSaver &)=delete
	MetaSkeletonStateSaver (MetaSkeletonStateSaver &&)=default
MetaSkeletonStateSaver &	operator= (MetaSkeletonStateSaver &&)=default

Private Attributes
::dart::dynamics::MetaSkeletonPtr	mMetaSkeleton
	MetaSkeleton to save the state of. More...
int	mOptions
	Options to specify what should be saved. More...
Eigen::VectorXd	mPositions
	Saved positions. More...
Eigen::VectorXd	mPositionLowerLimits
	Saved position lower limits. More...
Eigen::VectorXd	mPositionUpperLimits
	Saved position upper limits. More...

Detailed Description

RAII class to save and restore a MetaSkeleton's state.

FIXME: currently only saves position and joint limits.

Member Enumeration Documentation

Options

enum aikido::statespace::dart::MetaSkeletonStateSaver::Options

Options to specify what MetaSkeletonStateSaver should save.

Enumerator
POSITIONS
POSITION_LIMITS

Constructor & Destructor Documentation

MetaSkeletonStateSaver() [1/3]

aikido::statespace::dart::MetaSkeletonStateSaver::MetaSkeletonStateSaver ( ::dart::dynamics::MetaSkeletonPtr  metaskeleton, int  options = POSITIONS|POSITION_LIMITS  )

explicit

Construct a MetaSkeletonStateSaver and save the current state of the MetaSkeleton.

This state will be restored when MetaSkeletonStateSaver is destructed.

Parameters

[in]	metaskeleton	MetaSkeleton to save/restore
[in]	options	Options to specify what should be saved

~MetaSkeletonStateSaver()

virtual aikido::statespace::dart::MetaSkeletonStateSaver::~MetaSkeletonStateSaver ( )

virtual

MetaSkeletonStateSaver() [2/3]

aikido::statespace::dart::MetaSkeletonStateSaver::MetaSkeletonStateSaver ( const MetaSkeletonStateSaver &  )

delete

MetaSkeletonStateSaver() [3/3]

aikido::statespace::dart::MetaSkeletonStateSaver::MetaSkeletonStateSaver ( MetaSkeletonStateSaver &&  )

default

Member Function Documentation

operator=() [1/2]

MetaSkeletonStateSaver& aikido::statespace::dart::MetaSkeletonStateSaver::operator= ( const MetaSkeletonStateSaver &  )

delete

operator=() [2/2]

MetaSkeletonStateSaver& aikido::statespace::dart::MetaSkeletonStateSaver::operator= ( MetaSkeletonStateSaver &&  )

default

Member Data Documentation

mMetaSkeleton

::dart::dynamics::MetaSkeletonPtr aikido::statespace::dart::MetaSkeletonStateSaver::mMetaSkeleton

private

MetaSkeleton to save the state of.

mOptions

int aikido::statespace::dart::MetaSkeletonStateSaver::mOptions

private

Options to specify what should be saved.

mPositionLowerLimits

Eigen::VectorXd aikido::statespace::dart::MetaSkeletonStateSaver::mPositionLowerLimits

private

Saved position lower limits.

mPositions

Eigen::VectorXd aikido::statespace::dart::MetaSkeletonStateSaver::mPositions

private

Saved positions.

mPositionUpperLimits

Eigen::VectorXd aikido::statespace::dart::MetaSkeletonStateSaver::mPositionUpperLimits

private

Saved position upper limits.