StateSpace of a DART MetaSkeleton. More...

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

Inheritance diagram for aikido::statespace::dart::MetaSkeletonStateSpace:

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

Public Types
using	ScopedState = statespace::ScopedState< StateHandle >

Public Types inherited from aikido::statespace::CartesianProduct
using	StateHandle = CompoundStateHandle< State >

using	StateHandleConst = CompoundStateHandle< const State >

using	ScopedState = statespace::ScopedState< StateHandle >

using	ScopedStateConst = statespace::ScopedState< StateHandleConst >

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 >

Public Member Functions
	MetaSkeletonStateSpace (const ::dart::dynamics::MetaSkeleton *metaskeleton)
	Constructs a state space for a DART `MetaSkeleton`. More...

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

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

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

void	checkIfContained (const ::dart::dynamics::Skeleton *skeleton) const
	Checks whether this `skeleton` contains all dofs defined in this state space. More...

template<class Space = JointStateSpace>
std::shared_ptr< Space >	getJointSpace (const ::dart::dynamics::MetaSkeleton _metaskeleton, const ::dart::dynamics::Joint _joint) const
	Gets the subspace corresponding to `_joint` in `_metaskeleton`. More...

template<class Space = JointStateSpace>
std::shared_ptr< const Space >	getJointSpace (std::size_t _index) const
	Gets the subspace corresponding to joint with index `_index`. More...

void	convertPositionsToState (const Eigen::VectorXd &_positions, State *_state) const
	Converts DART `MetaSkeleton` positions, e.g. More...

void	convertStateToPositions (const State *_state, Eigen::VectorXd &_positions) const
	Converts a `State` in this state space to DART `MetaSkeleton` positions, e.g. More...

void	getState (const ::dart::dynamics::MetaSkeleton _metaskeleton, State _state) const
	Gets the positions of the `_metaskeleton` and store them in `_state`. More...

void	setState (::dart::dynamics::MetaSkeleton _metaskeleton, const State _state) const
	Sets the positions of the `_metaskeleton` to `_state`. More...

ScopedState	getScopedStateFromMetaSkeleton (const ::dart::dynamics::MetaSkeleton *_metaskeleton) const
	Wrapper for `getStateFromMetaSkeleton` that returns a ScopedState. More...

::dart::dynamics::MetaSkeletonPtr	getControlledMetaSkeleton (const ::dart::dynamics::SkeletonPtr &_skeleton) const
	Returns MetaSkeleton this space operates on. More...

Public Member Functions inherited from aikido::statespace::CartesianProduct
	CartesianProduct (std::vector< ConstStateSpacePtr > _subspaces)
	Construct the Cartesian product of a vector of subspaces. More...

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

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

std::size_t	getNumSubspaces () const
	Gets number of subspaces. More...

template<class Space = StateSpace>
std::shared_ptr< const Space >	getSubspace (std::size_t _index) const
	Gets subspace of type `Space` by at `_index`. More...

template<class Space = StateSpace>
Space::State *	getSubState (State *_state, std::size_t _index) const
	Gets substate of type `Space::State` from a CompoundState by index. More...

template<class Space = StateSpace>
const Space::State *	getSubState (const State *_state, std::size_t _index) const
	Gets substate of type `Space::State` from a CompoundState by index. More...

template<class Space = StateSpace>
Space::StateHandle	getSubStateHandle (State *_state, std::size_t _index) const
	Gets substate of type `Space::State` from a CompoundState by index and wraps it in a `Space::StateHandle` helper class. More...

template<class Space = StateSpace>
Space::StateHandleConst	getSubStateHandle (const State *_state, std::size_t _index) const
	Gets substate of type `Space::State` from a CompoundState by index and wraps it in a `Space::ConstStateHandle` helper class. More...

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

StateSpace::State *	allocateStateInBuffer (void *_buffer) const override
	Create a new state in a pre-allocated buffer. More...

void	freeStateInBuffer (StateSpace::State *_state) const override
	Free a state previously created by `allocateStateInBuffer`. More...

void	compose (const StateSpace::State _state1, const StateSpace::State _state2, StateSpace::State *_out) const override
	Lie group operation for this StateSpace. More...

void	getIdentity (StateSpace::State *_state) const override
	Gets the identity element for this Lie group, such that: More...

void	getInverse (const StateSpace::State _in, StateSpace::State _out) const override
	Gets the inverse of `_in` in this Lie group, such that: More...

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

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

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

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

void	print (const StateSpace::State *_state, std::ostream &_os) const override
	Print the contents of each substate contained in the state as a list with each substate enclosed in brackets and including its index Format: [0: ...] [1: ...] ... 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...

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

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

Private Attributes
Properties	mProperties

Detailed Description

StateSpace of a DART MetaSkeleton.

This is a CartesianProduct, where the i-th subspace is a JointStateSpace for the i-th Joint of the MetaSkeleton. This class provides functions for converting between State objects and vectors of DART joint positions.

The behavior of this class is undefined if you modify the structure of the MetaSkeleton or its position limits after construction.

Member Typedef Documentation

◆ ScopedState

using aikido::statespace::CartesianProduct::ScopedState = statespace::ScopedState<StateHandle>

Constructor & Destructor Documentation

◆ MetaSkeletonStateSpace()

aikido::statespace::dart::MetaSkeletonStateSpace::MetaSkeletonStateSpace ( const ::dart::dynamics::MetaSkeleton * metaskeleton )

explicit

Constructs a state space for a DART MetaSkeleton.

Parameters

metaskeleton target MetaSkeleton

Member Function Documentation

◆ checkCompatibility()

void aikido::statespace::dart::MetaSkeletonStateSpace::checkCompatibility ( const ::dart::dynamics::MetaSkeleton * metaskeleton ) const

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

Parameters

metaskeleton MetaSkeleton to check

Exceptions

invalid_argument if the MetaSkeleton does not match the state space

◆ checkIfContained()

void aikido::statespace::dart::MetaSkeletonStateSpace::checkIfContained ( const ::dart::dynamics::Skeleton * skeleton ) const

Checks whether this skeleton contains all dofs defined in this state space.

Exceptions

invalid_argument if skeleton does not contain all dofs if this state space.

◆ convertPositionsToState()

void aikido::statespace::dart::MetaSkeletonStateSpace::convertPositionsToState	(	const Eigen::VectorXd &	_positions,
		State *	_state
	)		const

Converts DART MetaSkeleton positions, e.g.

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

Parameters

	_positions	input DART `MetaSkeleton` positions
[out]	_state	output state

◆ convertStateToPositions()

void aikido::statespace::dart::MetaSkeletonStateSpace::convertStateToPositions	(	const State *	_state,
		Eigen::VectorXd &	_positions
	)		const

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

that may be passed to setPositions.

Parameters

	_state	input state
[out]	_positions	output DART `MetaSkeleton` positions

◆ getControlledMetaSkeleton()

::dart::dynamics::MetaSkeletonPtr aikido::statespace::dart::MetaSkeletonStateSpace::getControlledMetaSkeleton ( const ::dart::dynamics::SkeletonPtr & _skeleton ) const

Returns MetaSkeleton this space operates on.

Parameters

_skeleton Skeleton to create MetaSkeleton from.

◆ getJointSpace() [1/2]

template<class Space >

std::shared_ptr< Space > aikido::statespace::dart::MetaSkeletonStateSpace::getJointSpace	(	const ::dart::dynamics::MetaSkeleton *	_metaskeleton,
		const ::dart::dynamics::Joint *	_joint
	)		const

Gets the subspace corresponding to _joint in _metaskeleton.

Template Parameters

Space type of StateSpace to return

Parameters

_metaskeleton	MetaSkeleton containing `_joint`
_joint	joint in `_metaskeleton`

Returns: state space corresponding to _joint

◆ getJointSpace() [2/2]

template<class Space >

std::shared_ptr< const Space > aikido::statespace::dart::MetaSkeletonStateSpace::getJointSpace ( std::size_t _index ) const

Gets the subspace corresponding to joint with index _index.

Template Parameters

Space type of StateSpace to return

Parameters

_index index of a joint in the MetaSkeleton

Returns: state space corresponding to _joint

◆ getProperties()

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

Gets the MetaSkeleton properties associated with this state space.

Returns: MetaSkeleton properties associated with this state space

◆ getScopedStateFromMetaSkeleton()

ScopedState aikido::statespace::dart::MetaSkeletonStateSpace::getScopedStateFromMetaSkeleton ( const ::dart::dynamics::MetaSkeleton * _metaskeleton ) const

Wrapper for getStateFromMetaSkeleton that returns a ScopedState.

Parameters

_metaskeleton MetaSkeleton to get state from

Returns: current state of the _metaskeleton

◆ getState()

void aikido::statespace::dart::MetaSkeletonStateSpace::getState	(	const ::dart::dynamics::MetaSkeleton *	_metaskeleton,
		State *	_state
	)		const

Gets the positions of the _metaskeleton and store them in _state.

Parameters

	_metaskeleton	`MetaSkeleton` to get position from
[out]	_state	output state

◆ isCompatible()

bool aikido::statespace::dart::MetaSkeletonStateSpace::isCompatible ( const ::dart::dynamics::MetaSkeleton * metaskeleton ) const

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

Parameters

metaskeleton MetaSkeleton to check

Returns: true if MetaSkeleton is compatible

◆ setState()

void aikido::statespace::dart::MetaSkeletonStateSpace::setState	(	::dart::dynamics::MetaSkeleton *	_metaskeleton,
		const State *	_state
	)		const

Sets the positions of the _metaskeleton to _state.

Parameters

_metaskeleton	`MetaSkeleton` to set position for
_state	input state

Member Data Documentation

◆ mProperties

Properties aikido::statespace::dart::MetaSkeletonStateSpace::mProperties

private

Classes

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ScopedState

Constructor & Destructor Documentation

◆ MetaSkeletonStateSpace()

Member Function Documentation

◆ checkCompatibility()

◆ checkIfContained()

◆ convertPositionsToState()

◆ convertStateToPositions()

◆ getControlledMetaSkeleton()

◆ getJointSpace() [1/2]

◆ getJointSpace() [2/2]

◆ getProperties()

◆ getScopedStateFromMetaSkeleton()

◆ getState()

◆ isCompatible()

◆ setState()

Member Data Documentation

◆ mProperties