A BoxConstraint on RealVectorStates. More...

#include <aikido/constraint/uniform/RnBoxConstraint.hpp>

Inheritance diagram for aikido::constraint::uniform::RBoxConstraint< N >:

Public Types
using	VectorNd = Eigen::Matrix< double, N, 1 >

Public Member Functions
	RBoxConstraint (std::shared_ptr< const statespace::R< N >> _space, std::unique_ptr< common::RNG > _rng, const VectorNd &_lowerLimits, const VectorNd &_upperLimits)
	Constructor. More...

statespace::ConstStateSpacePtr	getStateSpace () const override
	Gets the StateSpace that this constraint operates on. More...

std::size_t	getConstraintDimension () const override
	Size of constraints. More...

std::vector< constraint::ConstraintType >	getConstraintTypes () const override
	Returns a vector of constraints' types, i-th element correspoinding to the type of i-th constraint. More...

bool	isSatisfied (const statespace::StateSpace::State state, TestableOutcome outcome=nullptr) const override
	Returns true if state satisfies this constraint. More...

std::unique_ptr< TestableOutcome >	createOutcome () const override
	Return an instance of DefaultTestableOutcome, since this class doesn't have a more specialized TestableOutcome derivative assigned to it. More...

bool	project (const statespace::StateSpace::State _s, statespace::StateSpace::State _out) const override
	Projection _s to _out. More...

void	getValue (const statespace::StateSpace::State *_s, Eigen::VectorXd &_out) const override
	Get the value of constraints at _s. More...

void	getJacobian (const statespace::StateSpace::State *_s, Eigen::MatrixXd &_out) const override
	Get the jacobian of constraints evaluated at _s, expressed in the frame each state space is expressed in). More...

std::unique_ptr< constraint::SampleGenerator >	createSampleGenerator () const override
	Creates a SampleGenerator for sampling from this constraint. More...

auto	getLowerLimits () const -> const VectorNd &
	Returns lower limits of this constraint. More...

auto	getUpperLimits () const -> const VectorNd &
	Returns upper limits of this constraint. More...

Public Member Functions inherited from aikido::constraint::Differentiable
virtual	~Differentiable ()=default
	Destructor. More...

virtual void	getValueAndJacobian (const statespace::StateSpace::State *_s, Eigen::VectorXd &_val, Eigen::MatrixXd &_jac) const
	Get both Value and Jacobian. More...

Public Member Functions inherited from aikido::constraint::Projectable
virtual	~Projectable ()=default

virtual bool	project (statespace::StateSpace::State *_s) const
	Performs an in-place projection. More...

Public Member Functions inherited from aikido::constraint::Sampleable
virtual	~Sampleable ()=default

Public Member Functions inherited from aikido::constraint::Testable
virtual	~Testable ()=default

Private Attributes
std::shared_ptr< const statespace::R< N > >	mSpace

std::unique_ptr< common::RNG >	mRng

VectorNd	mLowerLimits

VectorNd	mUpperLimits

Detailed Description

template<int N>
class aikido::constraint::uniform::RBoxConstraint< N >

A BoxConstraint on RealVectorStates.

For each dimension, this constraint has lowerLimit and upperLimit.

Member Typedef Documentation

◆ VectorNd

template<int N>

using aikido::constraint::uniform::RBoxConstraint< N >::VectorNd = Eigen::Matrix<double, N, 1>

Constructor & Destructor Documentation

◆ RBoxConstraint()

template<int N>

aikido::constraint::uniform::RBoxConstraint< N >::RBoxConstraint	(	std::shared_ptr< const statespace::R< N >>	_space,
		std::unique_ptr< common::RNG >	_rng,
		const VectorNd &	_lowerLimits,
		const VectorNd &	_upperLimits
	)

Constructor.

Parameters

_space	Space in which this constraint operates.
_rng	Random number generator to be used for sampling.
_lowerLimits	Lower limits on the states. The length of this vector should match the dimension of _space.
_upperLimits	Upper limits. The length of this vector should match the dimension of _space.

Member Function Documentation

◆ createOutcome()

template<int N>

std::unique_ptr< TestableOutcome > aikido::constraint::uniform::RBoxConstraint< N >::createOutcome

overridevirtual

Return an instance of DefaultTestableOutcome, since this class doesn't have a more specialized TestableOutcome derivative assigned to it.

Implements aikido::constraint::Testable.

◆ createSampleGenerator()

template<int N>

std::unique_ptr< constraint::SampleGenerator > aikido::constraint::uniform::RBoxConstraint< N >::createSampleGenerator ( ) const

overridevirtual

Creates a SampleGenerator for sampling from this constraint.

Implements aikido::constraint::Sampleable.

◆ getConstraintDimension()

template<int N>

std::size_t aikido::constraint::uniform::RBoxConstraint< N >::getConstraintDimension ( ) const

overridevirtual

Size of constraints.

Implements aikido::constraint::Differentiable.

◆ getConstraintTypes()

template<int N>

std::vector< ConstraintType > aikido::constraint::uniform::RBoxConstraint< N >::getConstraintTypes ( ) const

overridevirtual

Returns a vector of constraints' types, i-th element correspoinding to the type of i-th constraint.

Implements aikido::constraint::Differentiable.

◆ getJacobian()

template<int N>

void aikido::constraint::uniform::RBoxConstraint< N >::getJacobian	(	const statespace::StateSpace::State *	_s,
		Eigen::MatrixXd &	_out
	)		const

overridevirtual

Get the jacobian of constraints evaluated at _s, expressed in the frame each state space is expressed in).

Parameters

	_s	State to be evaluated at.
[out]	_out	Jacobian matrix. The dimension should be the following: SO3 StateSpace : m x 3 SO2 : m x 1 SE2 : m x 3 SE3 : m x 6 Rn : m x n CartesianProduct: m x k (k = sum of all state jacobian cols) If Matrix of incorrect dimension is given, false will be returned.

Implements aikido::constraint::Differentiable.

◆ getLowerLimits()

template<int N>

auto aikido::constraint::uniform::RBoxConstraint< N >::getLowerLimits

Returns lower limits of this constraint.

◆ getStateSpace()

template<int N>

statespace::ConstStateSpacePtr aikido::constraint::uniform::RBoxConstraint< N >::getStateSpace ( ) const

overridevirtual

Gets the StateSpace that this constraint operates on.

Implements aikido::constraint::Differentiable.

◆ getUpperLimits()

template<int N>

auto aikido::constraint::uniform::RBoxConstraint< N >::getUpperLimits

Returns upper limits of this constraint.

◆ getValue()

template<int N>

void aikido::constraint::uniform::RBoxConstraint< N >::getValue	(	const statespace::StateSpace::State *	_s,
		Eigen::VectorXd &	_out
	)		const

overridevirtual

Get the value of constraints at _s.

Should be 0 to satisfy equality constraints. Should be <=0 to satisfy inequality constraints.

Parameters

	_s	State to be evaluated at.
[out]	_out	Vector to store the value. Length should match the number of constraints.

Implements aikido::constraint::Differentiable.

◆ isSatisfied()

template<int N>

bool aikido::constraint::uniform::RBoxConstraint< N >::isSatisfied	(	const statespace::StateSpace::State *	_state,
		TestableOutcome *	outcome = `nullptr`
	)		const

overridevirtual

Returns true if state satisfies this constraint.

Parameters

[in]	_state	given state to test.
[in]	outcome	pointer to TestableOutcome derivative instance that method will populate with useful information. Each derivative class of Testable may expect outcome to be a different derivative class of TestableOutcome (this casting and population is done under the hood). If this argument is missing, it is ignored.

Implements aikido::constraint::Testable.

◆ project()

template<int N>

bool aikido::constraint::uniform::RBoxConstraint< N >::project	(	const statespace::StateSpace::State *	_s,
		statespace::StateSpace::State *	_out
	)		const

overridevirtual

Projection _s to _out.

Returns false if projection cannot be done.

Parameters

_s	state to be projected.
_out	resulting projection.

Implements aikido::constraint::Projectable.

Member Data Documentation

◆ mLowerLimits

template<int N>

VectorNd aikido::constraint::uniform::RBoxConstraint< N >::mLowerLimits

private

◆ mRng

template<int N>

std::unique_ptr<common::RNG> aikido::constraint::uniform::RBoxConstraint< N >::mRng

private

◆ mSpace

template<int N>

std::shared_ptr<const statespace::R<N> > aikido::constraint::uniform::RBoxConstraint< N >::mSpace

private

◆ mUpperLimits

template<int N>

VectorNd aikido::constraint::uniform::RBoxConstraint< N >::mUpperLimits

private

Public Types

Public Member Functions

Private Attributes

Detailed Description

template<int N> class aikido::constraint::uniform::RBoxConstraint< N >

Member Typedef Documentation

◆ VectorNd

Constructor & Destructor Documentation

◆ RBoxConstraint()

Member Function Documentation

◆ createOutcome()

◆ createSampleGenerator()

◆ getConstraintDimension()

◆ getConstraintTypes()

◆ getJacobian()

◆ getLowerLimits()

◆ getStateSpace()

◆ getUpperLimits()

◆ getValue()

◆ isSatisfied()

◆ project()

Member Data Documentation

◆ mLowerLimits

◆ mRng

◆ mSpace

◆ mUpperLimits

template<int N>
class aikido::constraint::uniform::RBoxConstraint< N >