Planning problem to plan to desired end-effector offset while maintaining the current end-effector orientation. More...

#include <aikido/planner/dart/ConfigurationToEndEffectorOffset.hpp>

Inheritance diagram for aikido::planner::dart::ConfigurationToEndEffectorOffset:

Public Member Functions
	ConfigurationToEndEffectorOffset (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, ::dart::dynamics::ConstMetaSkeletonPtr metaSkeleton, ::dart::dynamics::ConstBodyNodePtr endEffectorBodyNode, const Eigen::Vector3d &direction, double signedDistance, constraint::ConstTestablePtr constraint=nullptr)
	Constructor. More...

	ConfigurationToEndEffectorOffset (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, const statespace::dart::MetaSkeletonStateSpace::State *startState, ::dart::dynamics::ConstBodyNodePtr endEffectorBodyNode, const Eigen::Vector3d &direction, double signedDistance, constraint::ConstTestablePtr constraint=nullptr)
	Constructor. More...

	ConfigurationToEndEffectorOffset (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, ::dart::dynamics::ConstMetaSkeletonPtr metaSkeleton, ::dart::dynamics::ConstBodyNodePtr endEffectorBodyNode, double signedDistance, constraint::ConstTestablePtr constraint=nullptr)
	Constructor. More...

	ConfigurationToEndEffectorOffset (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, const statespace::dart::MetaSkeletonStateSpace::State *startState, ::dart::dynamics::ConstBodyNodePtr endEffectorBodyNode, double signedDistance, constraint::ConstTestablePtr constraint=nullptr)
	Constructor. More...

const std::string &	getType () const override
	Returns type of this planning problem. More...

::dart::dynamics::ConstBodyNodePtr	getEndEffectorBodyNode () const
	Returns the end-effector BodyNode to be planned to move a desired offest while maintaining the current orientation. More...

const statespace::dart::MetaSkeletonStateSpace::State *	getStartState () const
	Returns the start state to plan from, either set on construction or taken from the current state of the MetaSkeleton. More...

Eigen::Vector3d	getDirection () const
	Returns the direction of motion specified in the world frame. More...

double	getDistance () const
	Returns the signed distance in meters to move in the specified direction. More...

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

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

Static Public Member Functions
static const std::string &	getStaticType ()
	Returns the type of the planning problem. More...

Protected Attributes
statespace::dart::ConstMetaSkeletonStateSpacePtr	mMetaSkeletonStateSpace
	MetaSkeletonStateSpace. More...

::dart::dynamics::ConstMetaSkeletonPtr	mMetaSkeleton
	MetaSkeleton, if given. More...

statespace::dart::MetaSkeletonStateSpace::ScopedState	mStartState
	Start state, if set on construction. More...

const ::dart::dynamics::ConstBodyNodePtr	mEndEffectorBodyNode
	End-effector body node. More...

const boost::optional< Eigen::Vector3d >	mDirection
	Direction of motion, if set on construction. More...

const double	mDistance
	Signed distance to move in the direction specified. More...

Protected Attributes inherited from aikido::planner::Problem
statespace::ConstStateSpacePtr	mStateSpace
	State space associated with this problem. More...

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

Detailed Description

Planning problem to plan to desired end-effector offset while maintaining the current end-effector orientation.

Each constructor makes two choices: whether to take in a direction, and taking in either a start state OR a MetaSkeleton. If a direction is not passed, getDirection returns the current direction of the end effector body node. If a MetaSkeleton is passed instead of a start state, getStartState will return the current state of that MetaSkeleton. Thus, there are 2x2=4 constructors here.

Constructor & Destructor Documentation

◆ ConfigurationToEndEffectorOffset() [1/4]

aikido::planner::dart::ConfigurationToEndEffectorOffset::ConfigurationToEndEffectorOffset	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	stateSpace,
		::dart::dynamics::ConstMetaSkeletonPtr	metaSkeleton,
		::dart::dynamics::ConstBodyNodePtr	endEffectorBodyNode,
		const Eigen::Vector3d &	direction,
		double	signedDistance,
		constraint::ConstTestablePtr	constraint = `nullptr`
	)

Constructor.

Note that this constructor takes the start state from the current state of the passed MetaSkeleton, and sets the direction on construction.

Parameters

[in]	stateSpace	State space.
[in]	metaSkeleton	MetaSkeleton that getStartState will return the current state of when called.
[in]	endEffectorBodyNode	BodyNode to be planned to move to a desired offest while maintaining the current orientation.
[in]	direction	Unit vector that represents the direction of motion [unit vector in the world frame].
[in]	signedDistance	Signed distance to move, in meters.
[in]	constraint	Trajectory-wide constraint that must be satisfied.

Exceptions

If	the size of `direction` is zero.

◆ ConfigurationToEndEffectorOffset() [2/4]

aikido::planner::dart::ConfigurationToEndEffectorOffset::ConfigurationToEndEffectorOffset	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	stateSpace,
		const statespace::dart::MetaSkeletonStateSpace::State *	startState,
		::dart::dynamics::ConstBodyNodePtr	endEffectorBodyNode,
		const Eigen::Vector3d &	direction,
		double	signedDistance,
		constraint::ConstTestablePtr	constraint = `nullptr`
	)

Constructor.

Note that this constructor sets the start state and direction on construction.

Parameters

[in]	stateSpace	State space.
[in]	startState	Start state to plan from.
[in]	endEffectorBodyNode	BodyNode to be planned to move to a desired offest while maintaining the current orientation.
[in]	direction	Unit vector that represents the direction of motion [unit vector in the world frame].
[in]	signedDistance	Signed distance to move, in meters.
[in]	constraint	Trajectory-wide constraint that must be satisfied.

Exceptions

If	the size of `direction` is zero.

◆ ConfigurationToEndEffectorOffset() [3/4]

aikido::planner::dart::ConfigurationToEndEffectorOffset::ConfigurationToEndEffectorOffset	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	stateSpace,
		::dart::dynamics::ConstMetaSkeletonPtr	metaSkeleton,
		::dart::dynamics::ConstBodyNodePtr	endEffectorBodyNode,
		double	signedDistance,
		constraint::ConstTestablePtr	constraint = `nullptr`
	)

Constructor.

Note that this constructor takes the start state from the current state of the passed MetaSkeleton, and takes the direction from the end-effector BodyNode's current direction.

Parameters

[in]	stateSpace	State space.
[in]	metaSkeleton	MetaSkeleton that getStartState will return the current state of when called.
[in]	endEffectorBodyNode	BodyNode to be planned to move to a desired offest while maintaining the current orientation. Current direction is returned when getDirection is called.
[in]	signedDistance	Signed distance to move, in meters.
[in]	constraint	Trajectory-wide constraint that must be satisfied.

◆ ConfigurationToEndEffectorOffset() [4/4]

aikido::planner::dart::ConfigurationToEndEffectorOffset::ConfigurationToEndEffectorOffset	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	stateSpace,
		const statespace::dart::MetaSkeletonStateSpace::State *	startState,
		::dart::dynamics::ConstBodyNodePtr	endEffectorBodyNode,
		double	signedDistance,
		constraint::ConstTestablePtr	constraint = `nullptr`
	)

Constructor.

Note that this constructor sets the start state on construction, and takes the direction from the end-effector BodyNode's current direction.

Parameters

[in]	stateSpace	State space.
[in]	startState	Start state to plan from.
[in]	endEffectorBodyNode	BodyNode to be planned to move to a desired offest while maintaining the current orientation. Current direction is returned when getDirection is called.
[in]	signedDistance	Signed distance to move, in meters.
[in]	constraint	Trajectory-wide constraint that must be satisfied.

Member Function Documentation

◆ getDirection()

Eigen::Vector3d aikido::planner::dart::ConfigurationToEndEffectorOffset::getDirection ( ) const

Returns the direction of motion specified in the world frame.

Note that if no direction was passed, the current direction of the end effector body node is returned.

◆ getDistance()

double aikido::planner::dart::ConfigurationToEndEffectorOffset::getDistance ( ) const

Returns the signed distance in meters to move in the specified direction.

◆ getEndEffectorBodyNode()

::dart::dynamics::ConstBodyNodePtr aikido::planner::dart::ConfigurationToEndEffectorOffset::getEndEffectorBodyNode ( ) const

Returns the end-effector BodyNode to be planned to move a desired offest while maintaining the current orientation.

◆ getStartState()

const statespace::dart::MetaSkeletonStateSpace::State* aikido::planner::dart::ConfigurationToEndEffectorOffset::getStartState ( ) const

Returns the start state to plan from, either set on construction or taken from the current state of the MetaSkeleton.

◆ getStaticType()

static const std::string& aikido::planner::dart::ConfigurationToEndEffectorOffset::getStaticType ( )

static

Returns the type of the planning problem.

◆ getType()

const std::string& aikido::planner::dart::ConfigurationToEndEffectorOffset::getType ( ) const

overridevirtual

Returns type of this planning problem.

Implements aikido::planner::Problem.

Member Data Documentation

◆ mDirection

const boost::optional<Eigen::Vector3d> aikido::planner::dart::ConfigurationToEndEffectorOffset::mDirection

protected

Direction of motion, if set on construction.

◆ mDistance

const double aikido::planner::dart::ConfigurationToEndEffectorOffset::mDistance

protected

Signed distance to move in the direction specified.

◆ mEndEffectorBodyNode

const ::dart::dynamics::ConstBodyNodePtr aikido::planner::dart::ConfigurationToEndEffectorOffset::mEndEffectorBodyNode

protected

End-effector body node.

◆ mMetaSkeleton

::dart::dynamics::ConstMetaSkeletonPtr aikido::planner::dart::ConfigurationToEndEffectorOffset::mMetaSkeleton

protected

MetaSkeleton, if given.

◆ mMetaSkeletonStateSpace

statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::planner::dart::ConfigurationToEndEffectorOffset::mMetaSkeletonStateSpace

protected

MetaSkeletonStateSpace.

Prevents use of expensive dynamic cast on mStateSpace.

◆ mStartState

statespace::dart::MetaSkeletonStateSpace::ScopedState aikido::planner::dart::ConfigurationToEndEffectorOffset::mStartState

protected

Start state, if set on construction.

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ConfigurationToEndEffectorOffset() [1/4]

◆ ConfigurationToEndEffectorOffset() [2/4]

◆ ConfigurationToEndEffectorOffset() [3/4]

◆ ConfigurationToEndEffectorOffset() [4/4]

Member Function Documentation

◆ getDirection()

◆ getDistance()

◆ getEndEffectorBodyNode()

◆ getStartState()

◆ getStaticType()

◆ getType()

Member Data Documentation

◆ mDirection

◆ mDistance

◆ mEndEffectorBodyNode

◆ mMetaSkeleton

◆ mMetaSkeletonStateSpace

◆ mStartState