aikido::constraint::dart::InverseKinematicsSampleable Class Reference

Transforms a SE3-Sampleable into a MetaSkeleton-Sampleable that samples a configuration of a metaskeleton. More...

#include <aikido/constraint/dart/InverseKinematicsSampleable.hpp>

Inheritance diagram for aikido::constraint::dart::InverseKinematicsSampleable:

Public Member Functions
	InverseKinematicsSampleable (statespace::dart::ConstMetaSkeletonStateSpacePtr _metaSkeletonStateSpace, ::dart::dynamics::MetaSkeletonPtr _metaskeleton, SampleablePtr _poseConstraint, SampleablePtr _seedConstraint, ::dart::dynamics::InverseKinematicsPtr _inverseKinematics, int _maxNumTrials)
	Constructor. More...
virtual	~InverseKinematicsSampleable ()=default
statespace::ConstStateSpacePtr	getStateSpace () const override
	Gets the StateSpace that this constraint operates on. More...
std::unique_ptr< SampleGenerator >	createSampleGenerator () const override
	Creates a SampleGenerator for sampling from this constraint. More...
Public Member Functions inherited from aikido::constraint::Sampleable
virtual	~Sampleable ()=default

Private Attributes
statespace::dart::ConstMetaSkeletonStateSpacePtr	mMetaSkeletonStateSpace
::dart::dynamics::MetaSkeletonPtr	mMetaSkeleton
SampleablePtr	mPoseConstraint
SampleablePtr	mSeedConstraint
::dart::dynamics::InverseKinematicsPtr	mInverseKinematics
int	mMaxNumTrials

Detailed Description

Transforms a SE3-Sampleable into a MetaSkeleton-Sampleable that samples a configuration of a metaskeleton.

This samples a pose from a sampleable constraint and uses an inverse kinematics solver to "lift" that pose into the metaskeleton's configuration space. This class will retry a configurable number of times if sampling from the provided sampleable pose constraint or finding an inverse kinematic solution fails.

Constructor & Destructor Documentation

InverseKinematicsSampleable()

aikido::constraint::dart::InverseKinematicsSampleable::InverseKinematicsSampleable	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	_metaSkeletonStateSpace,
		::dart::dynamics::MetaSkeletonPtr	_metaskeleton,
		SampleablePtr	_poseConstraint,
		SampleablePtr	_seedConstraint,
		::dart::dynamics::InverseKinematicsPtr	_inverseKinematics,
		int	_maxNumTrials
	)

Constructor.

Parameters

_metaSkeletonStateSpace	StateSpace of a skeleton one of whose frame is being constrained by _poseConstraint.
_metaskeleton	MetaSkeleton to test with
_poseConstraint	This samples poses for a frame in the skeleton.
_seedConstraint	This samples configurations for the skeleton. These samples are used as seeds when solving inverse kinematics.
_inverseKinematics	InverseKinematics solver for the pose being sampled by _poseConstaint.
_maxNumTrials	Max number of trials for its sample generator to retry sampling and finding an inverse kinematics solution.

~InverseKinematicsSampleable()

virtual aikido::constraint::dart::InverseKinematicsSampleable::~InverseKinematicsSampleable ( )

virtualdefault

Member Function Documentation

createSampleGenerator()

std::unique_ptr<SampleGenerator> aikido::constraint::dart::InverseKinematicsSampleable::createSampleGenerator ( ) const

overridevirtual

Creates a SampleGenerator for sampling from this constraint.

Implements aikido::constraint::Sampleable.

getStateSpace()

statespace::ConstStateSpacePtr aikido::constraint::dart::InverseKinematicsSampleable::getStateSpace ( ) const

overridevirtual

Gets the StateSpace that this constraint operates on.

Implements aikido::constraint::Sampleable.

Member Data Documentation

mInverseKinematics

::dart::dynamics::InverseKinematicsPtr aikido::constraint::dart::InverseKinematicsSampleable::mInverseKinematics

private

mMaxNumTrials

int aikido::constraint::dart::InverseKinematicsSampleable::mMaxNumTrials

private

mMetaSkeleton

::dart::dynamics::MetaSkeletonPtr aikido::constraint::dart::InverseKinematicsSampleable::mMetaSkeleton

private

mMetaSkeletonStateSpace

statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::constraint::dart::InverseKinematicsSampleable::mMetaSkeletonStateSpace

private

mPoseConstraint

SampleablePtr aikido::constraint::dart::InverseKinematicsSampleable::mPoseConstraint

private

mSeedConstraint

SampleablePtr aikido::constraint::dart::InverseKinematicsSampleable::mSeedConstraint

private