Base class for various planning problems. More...

#include <aikido/planner/Problem.hpp>

Inheritance diagram for aikido::planner::Problem:

Public Member Functions
	Problem (statespace::ConstStateSpacePtr stateSpace, constraint::ConstTestablePtr constraint=nullptr)
	Constructor. More...

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

virtual const std::string &	getType () const =0
	Returns type of this planning problem. 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...

Protected Attributes
statespace::ConstStateSpacePtr	mStateSpace
	State space associated with this problem. More...

constraint::ConstTestablePtr	mConstraint
	Trajectory-wide constraint that must be satisfied. More...

Detailed Description

Base class for various planning problems.

Constructor & Destructor Documentation

◆ Problem()

aikido::planner::Problem::Problem	(	statespace::ConstStateSpacePtr	stateSpace,
		constraint::ConstTestablePtr	constraint = `nullptr`
	)

Constructor.

Parameters

[in]	stateSpace	State space that this problem associated with.
[in]	constraint	Trajectory-wide constraint that must be satisfied. If null is passed, constraint::Satisfied is created by default where constraint::Satisfied always returns true for the satisfaction query.

Exceptions

If	`stateSpace` is null.
If	The state space of `constraint` doesn't agree with `statespace`.

◆ ~Problem()

virtual aikido::planner::Problem::~Problem ( )

virtualdefault

Destructor.

Member Function Documentation

◆ getConstraint()

constraint::ConstTestablePtr aikido::planner::Problem::getConstraint ( ) const

Returns the constraint that must be satisfied throughout the trajectory.

◆ getStateSpace()

statespace::ConstStateSpacePtr aikido::planner::Problem::getStateSpace ( ) const

Returns const state space.

◆ getType()

virtual const std::string& aikido::planner::Problem::getType ( ) const

pure virtual

Returns type of this planning problem.

Implemented in aikido::planner::dart::ConfigurationToEndEffectorOffset, aikido::planner::dart::ConfigurationToTSR, aikido::planner::dart::ConfigurationToEndEffectorPose, aikido::planner::dart::ConfigurationToConfiguration, aikido::planner::ConfigurationToConfigurations, and aikido::planner::ConfigurationToConfiguration.

Member Data Documentation

◆ mConstraint

constraint::ConstTestablePtr aikido::planner::Problem::mConstraint

protected

Trajectory-wide constraint that must be satisfied.

◆ mStateSpace

statespace::ConstStateSpacePtr aikido::planner::Problem::mStateSpace