A testable that uses a collision detector to check whether a metakeleton state (configuration) results in collision between and within specified collision groups. More...

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

Inheritance diagram for aikido::constraint::dart::CollisionFree:

Public Member Functions
	CollisionFree (statespace::dart::ConstMetaSkeletonStateSpacePtr _metaSkeletonStateSpace, ::dart::dynamics::MetaSkeletonPtr _metaskeleton, std::shared_ptr<::dart::collision::CollisionDetector > _collisionDetector, ::dart::collision::CollisionOption _collisionOptions=::dart::collision::CollisionOption(false, 1, std::make_shared<::dart::collision::BodyNodeCollisionFilter >()))
	Constructs an empty constraint that uses `_collisionDetector` to test for collision. More...

statespace::ConstStateSpacePtr	getStateSpace () const override
	Returns StateSpace in which this constraint operates. More...

bool	isSatisfied (const aikido::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 a TestableOutcome derivative class that corresponds to this constraint class. More...

void	addPairwiseCheck (std::shared_ptr<::dart::collision::CollisionGroup > _group1, std::shared_ptr<::dart::collision::CollisionGroup > _group2)
	Checks collision between group1 and group2. More...

void	removePairwiseCheck (std::shared_ptr<::dart::collision::CollisionGroup > _group1, std::shared_ptr<::dart::collision::CollisionGroup > _group2)
	Remove collision check between group1 and group2. More...

void	addSelfCheck (std::shared_ptr<::dart::collision::CollisionGroup > _group)
	Checks collision within group. More...

void	removeSelfCheck (std::shared_ptr<::dart::collision::CollisionGroup > _group)
	Remove self-collision check within group. More...

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

Private Types
using	CollisionGroup = ::dart::collision::CollisionGroup

Private Attributes
aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr	mMetaSkeletonStateSpace

::dart::dynamics::MetaSkeletonPtr	mMetaSkeleton

std::shared_ptr<::dart::collision::CollisionDetector >	mCollisionDetector

::dart::collision::CollisionOption	mCollisionOptions

std::vector< std::pair< std::shared_ptr< CollisionGroup >, std::shared_ptr< CollisionGroup > > >	mGroupsToPairwiseCheck

std::vector< std::shared_ptr< CollisionGroup > >	mGroupsToSelfCheck

Detailed Description

A testable that uses a collision detector to check whether a metakeleton state (configuration) results in collision between and within specified collision groups.

Member Typedef Documentation

◆ CollisionGroup

using aikido::constraint::dart::CollisionFree::CollisionGroup = ::dart::collision::CollisionGroup

private

Constructor & Destructor Documentation

◆ CollisionFree()

aikido::constraint::dart::CollisionFree::CollisionFree	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	_metaSkeletonStateSpace,
		::dart::dynamics::MetaSkeletonPtr	_metaskeleton,
		std::shared_ptr<::dart::collision::CollisionDetector >	_collisionDetector,
		::dart::collision::CollisionOption	_collisionOptions = `::dart::collision::CollisionOption(false, 1, std::make_shared<::dart::collision::BodyNodeCollisionFilter >())`
	)

Constructs an empty constraint that uses _collisionDetector to test for collision.

You should call addPairWiseCheck and addSelfCheck to register collision checks before calling isSatisfied.

Parameters

_metaSkeletonStateSpace	state space on which the constraint operates
_metaskeleton	MetaSkeleton to test with
_collisionDetector	collision detector used to test for collision
_collisionOptions	options passed to `_collisionDetector`

Member Function Documentation

◆ addPairwiseCheck()

void aikido::constraint::dart::CollisionFree::addPairwiseCheck	(	std::shared_ptr<::dart::collision::CollisionGroup >	_group1,
		std::shared_ptr<::dart::collision::CollisionGroup >	_group2
	)

Checks collision between group1 and group2.

Parameters

_group1	First collision group.
_group2	Second collision group.

◆ addSelfCheck()

void aikido::constraint::dart::CollisionFree::addSelfCheck ( std::shared_ptr<::dart::collision::CollisionGroup > _group )

Checks collision within group.

Parameters

_group Collision group.

◆ createOutcome()

std::unique_ptr<TestableOutcome> aikido::constraint::dart::CollisionFree::createOutcome ( ) const

overridevirtual

Return an instance of a TestableOutcome derivative class that corresponds to this constraint class.

Ensures that correct outcome object is passed to isSatisfied (and casts, etc do not explode).

Note: Returns an instance of CollisionFreeOutcome.

Implements aikido::constraint::Testable.

◆ getStateSpace()

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

overridevirtual

Returns StateSpace in which this constraint operates.

Implements aikido::constraint::Testable.

◆ isSatisfied()

bool aikido::constraint::dart::CollisionFree::isSatisfied	(	const aikido::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.

Note: Outcome is expected to be an instance of CollisionFreeOutcome. This method will cast outcome to a pointer of this type, and then populate the collision information (which bodies are in self/pairwise collision).

Implements aikido::constraint::Testable.

◆ removePairwiseCheck()

void aikido::constraint::dart::CollisionFree::removePairwiseCheck	(	std::shared_ptr<::dart::collision::CollisionGroup >	_group1,
		std::shared_ptr<::dart::collision::CollisionGroup >	_group2
	)

Remove collision check between group1 and group2.

Parameters

_group1	First collision group.
_group2	Second collision group.

◆ removeSelfCheck()

void aikido::constraint::dart::CollisionFree::removeSelfCheck ( std::shared_ptr<::dart::collision::CollisionGroup > _group )

Remove self-collision check within group.

Parameters

_group Collision group.

Member Data Documentation

◆ mCollisionDetector

std::shared_ptr<::dart::collision::CollisionDetector> aikido::constraint::dart::CollisionFree::mCollisionDetector

private

◆ mCollisionOptions

::dart::collision::CollisionOption aikido::constraint::dart::CollisionFree::mCollisionOptions

private

◆ mGroupsToPairwiseCheck

std::vector<std::pair< std::shared_ptr<CollisionGroup>, std::shared_ptr<CollisionGroup> > > aikido::constraint::dart::CollisionFree::mGroupsToPairwiseCheck

private

◆ mGroupsToSelfCheck

std::vector<std::shared_ptr<CollisionGroup> > aikido::constraint::dart::CollisionFree::mGroupsToSelfCheck

private

◆ mMetaSkeleton

::dart::dynamics::MetaSkeletonPtr aikido::constraint::dart::CollisionFree::mMetaSkeleton

private

◆ mMetaSkeletonStateSpace

aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::constraint::dart::CollisionFree::mMetaSkeletonStateSpace

private

Public Member Functions

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

◆ CollisionGroup

Constructor & Destructor Documentation

◆ CollisionFree()

Member Function Documentation

◆ addPairwiseCheck()

◆ addSelfCheck()

◆ createOutcome()

◆ getStateSpace()

◆ isSatisfied()

◆ removePairwiseCheck()

◆ removeSelfCheck()

Member Data Documentation

◆ mCollisionDetector

◆ mCollisionOptions

◆ mGroupsToPairwiseCheck

◆ mGroupsToSelfCheck

◆ mMetaSkeleton

◆ mMetaSkeletonStateSpace