StateSpace of a DART Joint. More...

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

Inheritance diagram for aikido::statespace::dart::JointStateSpace:

Classes
class	Properties
	Static properties from the DART `Joint`. More...

Public Member Functions
	JointStateSpace (const ::dart::dynamics::Joint *joint)
	Constructs a state space for `joint`. More...

virtual	~JointStateSpace ()=default
	Destructor. More...

const Properties &	getProperties () const
	Gets the joint properties associated with this state space. More...

bool	isCompatible (const ::dart::dynamics::Joint *joint) const
	Returns whether the Joint can be used with this state space. More...

void	checkCompatibility (const ::dart::dynamics::Joint *joint) const
	Throws an error if the Joint cannot be used with this state space. More...

virtual void	convertPositionsToState (const Eigen::VectorXd &positions, StateSpace::State *state) const =0
	Converts DART `Joint` positions, e.g. More...

virtual void	convertStateToPositions (const StateSpace::State *state, Eigen::VectorXd &positions) const =0
	Converts a `State` in this state space to DART `Joint` positions, e.g. More...

virtual void	getState (const ::dart::dynamics::Joint joint, StateSpace::State state) const
	Gets the positions of the `joint` and store them in `state`. More...

virtual void	setState (::dart::dynamics::Joint joint, const StateSpace::State state) const
	Sets the positions of the `joint` to `state`. More...

Public Member Functions inherited from aikido::statespace::StateSpace
virtual	~StateSpace ()=default

ScopedState	createState () const
	Helper function to create a `ScopedState`. More...

ScopedState	cloneState (const State *stateIn) const
	Creates an identical clone of `stateIn`. More...

virtual State *	allocateState () const
	Allocate a new state. More...

virtual void	freeState (State *_state) const
	Free a state previously created by `allocateState`. More...

virtual std::size_t	getStateSizeInBytes () const =0
	Gets the size of a State, in bytes. More...

virtual State *	allocateStateInBuffer (void *_buffer) const =0
	Create a new state in a pre-allocated buffer. More...

virtual void	freeStateInBuffer (State *_state) const =0
	Free a state previously created by `allocateStateInBuffer`. More...

virtual void	compose (const State _state1, const State _state2, State *_out) const =0
	Lie group operation for this StateSpace. More...

virtual void	compose (State _state1, const State _state2) const
	Lie group operation for this StateSpace. More...

virtual void	getIdentity (State *_out) const =0
	Gets the identity element for this Lie group, such that: More...

virtual void	getInverse (const State _state, State _out) const =0
	Gets the inverse of `_in` in this Lie group, such that: More...

virtual void	getInverse (State *_state) const
	Gets the inverse of `_in` in this Lie group. More...

virtual std::size_t	getDimension () const =0
	Get the dimension of this Lie group. More...

virtual void	copyState (const StateSpace::State _source, StateSpace::State _destination) const =0
	Copy a state. More...

virtual void	expMap (const Eigen::VectorXd &_tangent, State *_out) const =0
	Exponential mapping of Lie algebra element to a Lie group element. More...

virtual void	logMap (const State *_in, Eigen::VectorXd &_tangent) const =0
	Log mapping of Lie group element to a Lie algebra element. More...

virtual void	print (const State *_state, std::ostream &_os) const =0
	Print the state to the output stream. More...

Protected Attributes
Properties	mProperties

Additional Inherited Members
Public Types inherited from aikido::statespace::StateSpace
using	StateHandle = statespace::StateHandle< StateSpace, State >

using	StateHandleConst = statespace::StateHandle< StateSpace, const State >

using	ScopedState = statespace::ScopedState< StateHandle >

using	ScopedStateConst = statespace::ScopedState< StateHandleConst >

Detailed Description

StateSpace of a DART Joint.

This is a base class that is inherited by concrete implementations for DART's various Joint subclasses. This class provides functions for converting between State objects and vectors of DART joint positions.

Since this class does not keep a reference to the underlying Joint, changes made to the Joint after the state space is constructed will not be reflected in the JointStateSpace.

Constructor & Destructor Documentation

◆ JointStateSpace()

aikido::statespace::dart::JointStateSpace::JointStateSpace ( const ::dart::dynamics::Joint * joint )

explicit

Constructs a state space for joint.

Parameters

joint joint to create a StateSpace from

◆ ~JointStateSpace()

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

virtualdefault

Destructor.

Member Function Documentation

◆ checkCompatibility()

void aikido::statespace::dart::JointStateSpace::checkCompatibility ( const ::dart::dynamics::Joint * joint ) const

Throws an error if the Joint cannot be used with this state space.

Parameters

joint Joint to check

Exceptions

invalid_argument if the Joint does not match the state space

◆ convertPositionsToState()

virtual void aikido::statespace::dart::JointStateSpace::convertPositionsToState	(	const Eigen::VectorXd &	positions,
		StateSpace::State *	state
	)		const

pure virtual

Converts DART Joint positions, e.g.

those returned by getPositions, to a State in this state space.

Parameters

	positions	input DART `Joint` positions
[out]	state	output state

Implemented in aikido::statespace::dart::RJoint< N >, aikido::statespace::dart::SO2Joint, aikido::statespace::dart::SE3Joint, aikido::statespace::dart::SO3Joint, aikido::statespace::dart::WeldJoint, and aikido::statespace::dart::SE2Joint.

◆ convertStateToPositions()

virtual void aikido::statespace::dart::JointStateSpace::convertStateToPositions	(	const StateSpace::State *	state,
		Eigen::VectorXd &	positions
	)		const

pure virtual

Converts a State in this state space to DART Joint positions, e.g.

that may be passed to setPositions.

Parameters

	state	input state
[out]	positions	output DART `Joint` positions

Implemented in aikido::statespace::dart::RJoint< N >, aikido::statespace::dart::SO2Joint, aikido::statespace::dart::SE3Joint, aikido::statespace::dart::SO3Joint, aikido::statespace::dart::WeldJoint, and aikido::statespace::dart::SE2Joint.

◆ getProperties()

const Properties& aikido::statespace::dart::JointStateSpace::getProperties ( ) const

Gets the joint properties associated with this state space.

Returns: joint properties associated with this state space

◆ getState()

virtual void aikido::statespace::dart::JointStateSpace::getState	(	const ::dart::dynamics::Joint *	joint,
		StateSpace::State *	state
	)		const

virtual

Gets the positions of the joint and store them in state.

Parameters

	joint	`Joint` to get position from
[out]	state	output state

◆ isCompatible()

bool aikido::statespace::dart::JointStateSpace::isCompatible ( const ::dart::dynamics::Joint * joint ) const

Returns whether the Joint can be used with this state space.

Parameters

joint Joint to check

◆ setState()

virtual void aikido::statespace::dart::JointStateSpace::setState	(	::dart::dynamics::Joint *	joint,
		const StateSpace::State *	state
	)		const

virtual

Sets the positions of the joint to state.

Parameters

joint	`Joint` to set position for
state	input state

Member Data Documentation

◆ mProperties

Properties aikido::statespace::dart::JointStateSpace::mProperties

protected

Classes

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ JointStateSpace()

◆ ~JointStateSpace()

Member Function Documentation

◆ checkCompatibility()

◆ convertPositionsToState()

◆ convertStateToPositions()

◆ getProperties()

◆ getState()

◆ isCompatible()

◆ setState()

Member Data Documentation

◆ mProperties