Planning problem to plan to multiple goal configurations. More...

#include <aikido/planner/ConfigurationToConfigurations.hpp>

Inheritance diagram for aikido::planner::ConfigurationToConfigurations:

Public Types
using	GoalStates = std::vector< const statespace::StateSpace::State * >

Public Member Functions
	ConfigurationToConfigurations (statespace::ConstStateSpacePtr stateSpace, const statespace::StateSpace::State *startState, const GoalStates &goalStates, constraint::ConstTestablePtr constraint)
	Constructor. More...

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

const statespace::StateSpace::State *	getStartState () const
	Returns the start state. More...

std::size_t	getNumGoalStates () const
	Returns the number of the goal states. More...

GoalStates	getGoalStates () const
	Returns goal states. 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::StateSpace::ScopedState	mStartState
	Start state. More...

std::vector< statespace::StateSpace::ScopedState >	mGoalStates
	Goal States. 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 multiple goal configurations.

Plan a trajectory from start state to any of the goal states using an interpolator to interpolate between the states.

Member Typedef Documentation

◆ GoalStates

using aikido::planner::ConfigurationToConfigurations::GoalStates = std::vector<const statespace::StateSpace::State*>

Constructor & Destructor Documentation

◆ ConfigurationToConfigurations()

aikido::planner::ConfigurationToConfigurations::ConfigurationToConfigurations	(	statespace::ConstStateSpacePtr	stateSpace,
		const statespace::StateSpace::State *	startState,
		const GoalStates &	goalStates,
		constraint::ConstTestablePtr	constraint
	)

Constructor.

Parameters

[in]	stateSpace	State space.
[in]	startState	Start state.
[in]	goalStates	Goal states.
[in]	constraint	Trajectory-wide constraint that must be satisfied.

Exceptions

If	`stateSpace` is not compatible with `constraint's` state space.

Member Function Documentation

◆ getGoalStates()

GoalStates aikido::planner::ConfigurationToConfigurations::getGoalStates ( ) const

Returns goal states.

◆ getNumGoalStates()

std::size_t aikido::planner::ConfigurationToConfigurations::getNumGoalStates ( ) const

Returns the number of the goal states.

◆ getStartState()

const statespace::StateSpace::State* aikido::planner::ConfigurationToConfigurations::getStartState ( ) const

Returns the start state.

◆ getStaticType()

static const std::string& aikido::planner::ConfigurationToConfigurations::getStaticType ( )

static

Returns the type of the planning problem.

◆ getType()

const std::string& aikido::planner::ConfigurationToConfigurations::getType ( ) const

overridevirtual

Returns type of this planning problem.

Implements aikido::planner::Problem.

Member Data Documentation

◆ mGoalStates

std::vector<statespace::StateSpace::ScopedState> aikido::planner::ConfigurationToConfigurations::mGoalStates

protected

Goal States.

◆ mStartState

statespace::StateSpace::ScopedState aikido::planner::ConfigurationToConfigurations::mStartState