aikido::common Namespace Reference

Namespaces
	operators

Classes
class	BSpline
struct	DynamicCastFactory
	Call a template factory function based on runtime type of the first argument to a function. More...
struct	DynamicCastFactory< Factory, Pointer, BaseParameter, common::type_list< Arg, Args... > >
struct	DynamicCastFactory< Factory, Pointer, BaseParameter, common::type_list<> >
struct	DynamicCastFactory_raw_ptr
	Helper template class necessary to use raw pointers as the pointer type in DynamicCastFactory. More...
struct	DynamicCastFactory_shared_ptr
	Helper template class necessary to use std::shared_ptr as the pointer type in DynamicCastFactory. More...
class	ExecutorMultiplexer
	Combine multiple executors (i.e. More...
class	ExecutorThread
	ExecutorThread is a wrapper of std::thread that calls a callback periodically. More...
struct	PairHash
	Implements a hash function for pairs of std::hash-able types. More...
class	RNG
	Implementation of the C++11 "random engine" concept that uses virtual function calls to erase the type of the underlying random engine. More...
class	RNGWrapper
	Concrete implementation of the RNG type erasure class. More...
class	SplineND
	An arbitrary dimensional polynomial spline. More...
class	SplineProblem
	Utility for fitting splines given constraints on function value, derivative value, and continuity. More...
struct	SplineTraits
struct	SplineTraits< BSpline< _Scalar, _Dim, _Degree >, _DerivativeOrder >
	Compile-time attributes of the Spline class for fixed degree. More...
struct	SplineTraits< BSpline< _Scalar, _Dim, _Degree >, Eigen::Dynamic >
	Compile-time attributes of the Spline class for Dynamic degree. More...
class	StepSequence
	An iterator that returns a sequence of numbers between start point and end point stepping at a fixed stepsize. More...
class	type_list
	Wrapper for a variadic template parameter pack of types. More...
class	VanDerCorput
	Generator for the Van der Corput sequence, a low-discripancy sequence defined over a real interval. More...

Typedefs
using	RNGPtr = std::shared_ptr< RNG >
using	ConstRNGPtr = std::shared_ptr< const RNG >
using	WeakRNGPtr = std::weak_ptr< RNG >
using	WeakConstRNGPtr = std::weak_ptr< const RNG >
using	UniqueRNGPtr = std::unique_ptr< RNG >
using	UniqueConstRNGPtr = std::unique_ptr< const RNG >
typedef BSpline< float, 2 >	BSpline2f
	2D float B-spline with dynamic degree. More...
typedef BSpline< float, 3 >	BSpline3f
	3D float B-spline with dynamic degree. More...
typedef BSpline< double, 2 >	BSpline2d
	2D double B-spline with dynamic degree. More...
typedef BSpline< double, 3 >	BSpline3d
	3D double B-spline with dynamic degree. More...

Functions
template<class T , class Compare >
const T &	clamp (const T &v, const T &lo, const T &hi, Compare comp)
	If v compares less than lo, returns lo; otherwise if hi compares less than v, returns hi; otherwise returns v. More...
template<class T >
const T &	clamp (const T &v, const T &lo, const T &hi)
	Same as above, but uses std::less<T> to compare the values. More...
template<typename SplineType , typename DerivativeType >
void	derivativesImpl (const SplineType &spline, typename SplineType::Scalar u, Eigen::DenseIndex order, DerivativeType &der)
template<typename T , typename... Args>
::std::unique_ptr< T >	make_unique (Args &&... args)
template<class Engine , class Scalar , class Quaternion >
Quaternion	sampleQuaternion (Engine &_engine, std::uniform_real_distribution< Scalar > &_distribution)
	Sample a unit quaternion uniformly at random. More...
Eigen::MatrixXd	pseudoinverse (const Eigen::MatrixXd &mat, double eps=1e-6)
	Computes the Moore-Penrose pseudoinverse of a matrix. More...
std::vector< std::unique_ptr< common::RNG > >	cloneRNGsFrom (RNG &_engine, std::size_t _numOutputs, std::size_t _numSeeds=NUM_DEFAULT_SEEDS)
	Deterministically create different _numOutputs random number generators of the same type as the input _engine. More...
std::vector< std::unique_ptr< common::RNG > >	cloneRNGFrom (RNG &_engine, std::size_t _numSeeds=NUM_DEFAULT_SEEDS)
	Deterministically create a random number generator of the same type as the input _engine. More...
void	printCollisionObject (const dart::collision::CollisionObject &collisionObject, std::ostream &stream)
	Prints a CollisionObject for debugging purposes. More...
void	printCollisionResult (const dart::collision::CollisionResult &collisionResult, std::ostream &stream)
	Prints a CollisionResult for debugging purposes. More...
std::vector< std::string >	split (const std::string &string, const std::string &delimiters=" \t")
	Splits (tokenizes) a string into substrings that are divided by the given delimiter tokens. More...

Variables
constexpr int	NUM_DEFAULT_SEEDS {100}
	Default number of seeds to by cloneRNGsFrom to seed new engines. More...

Typedef Documentation

BSpline2d

typedef BSpline<double, 2> aikido::common::BSpline2d

2D double B-spline with dynamic degree.

BSpline2f

typedef BSpline<float, 2> aikido::common::BSpline2f

2D float B-spline with dynamic degree.

BSpline3d

typedef BSpline<double, 3> aikido::common::BSpline3d

3D double B-spline with dynamic degree.

BSpline3f

typedef BSpline<float, 3> aikido::common::BSpline3f

3D float B-spline with dynamic degree.

ConstRNGPtr

using aikido::common::ConstRNGPtr = typedef std::shared_ptr< const RNG >

RNGPtr

using aikido::common::RNGPtr = typedef std::shared_ptr< RNG >

UniqueConstRNGPtr

using aikido::common::UniqueConstRNGPtr = typedef std::unique_ptr< const RNG >

UniqueRNGPtr

using aikido::common::UniqueRNGPtr = typedef std::unique_ptr< RNG >

WeakConstRNGPtr

using aikido::common::WeakConstRNGPtr = typedef std::weak_ptr< const RNG >

WeakRNGPtr

using aikido::common::WeakRNGPtr = typedef std::weak_ptr< RNG >

Function Documentation

clamp() [1/2]

template<class T >

const T & aikido::common::clamp	(	const T &	v,
		const T &	lo,
		const T &	hi
	)

Same as above, but uses std::less<T> to compare the values.

clamp() [2/2]

template<class T , class Compare >

const T & aikido::common::clamp	(	const T &	v,
		const T &	lo,
		const T &	hi,
		Compare	comp
	)

If v compares less than lo, returns lo; otherwise if hi compares less than v, returns hi; otherwise returns v.

Uses operator < to compare the values.

The behavior is undefined if the value of lo is greater than hi.

Parameters

[in]	v	The value to clamp.
[in]	lo	The lower bound to clamp v to.
[in]	hi	The upper bound to clamp v to.
[in]	comp	Comparison function object (i.e., an object that satisfies the requirements of Compare) which returns ​true if the first argument is less than the second. The signature of the comparison function should be equivalent to bool cmp(const Type1& a, const Type2& b) . The signature does not need to have const &, but the function object must not modify the objects passed to it. The types Type1 and Type2 must be such that an object of type T can be implicitly converted to both of them.

Returns

Reference to lo if v is less than lo, reference to hi if hi is less than v, otherwise reference to v.

cloneRNGFrom()

std::vector<std::unique_ptr<common::RNG> > aikido::common::cloneRNGFrom	(	RNG &	_engine,
		std::size_t	_numSeeds = NUM_DEFAULT_SEEDS
	)

Deterministically create a random number generator of the same type as the input _engine.

This is implemented by using _engine to generate _numSeeds seeds, then using std::seed_seq to generate an uncorrelated seed to create the output engine.

Parameters

_engine	random engine
_numSeeds	number of seeds to use for initialization

Returns

new random number generators

cloneRNGsFrom()

std::vector<std::unique_ptr<common::RNG> > aikido::common::cloneRNGsFrom	(	RNG &	_engine,
		std::size_t	_numOutputs,
		std::size_t	_numSeeds = NUM_DEFAULT_SEEDS
	)

Deterministically create different _numOutputs random number generators of the same type as the input _engine.

This is implemented by using _engine to generate _numSeeds seeds, then using std::seed_seq to generate _numOutputs uncorrelated seeds to create the output engines.

Parameters

_engine	random engine
_numOutputs	number of RNGs to create
_numSeeds	number of seeds to use for initialization

Returns

new random number generators

derivativesImpl()

template<typename SplineType , typename DerivativeType >

void aikido::common::derivativesImpl	(	const SplineType &	spline,
		typename SplineType::Scalar	u,
		Eigen::DenseIndex	order,
		DerivativeType &	der
	)

make_unique()

template<typename T , typename... Args>

::std::unique_ptr<T> aikido::common::make_unique

(

Args &&...

args

)

printCollisionObject()

void aikido::common::printCollisionObject	(	const dart::collision::CollisionObject &	collisionObject,
		std::ostream &	stream
	)

Prints a CollisionObject for debugging purposes.

Parameters

	collisionObject	object to print
[out]	stream	to use for output

printCollisionResult()

void aikido::common::printCollisionResult	(	const dart::collision::CollisionResult &	collisionResult,
		std::ostream &	stream
	)

Prints a CollisionResult for debugging purposes.

Parameters

	collisionResult	result to print
[out]	stream	to use for output

pseudoinverse()

Eigen::MatrixXd aikido::common::pseudoinverse	(	const Eigen::MatrixXd &	mat,
		double	eps = 1e-6
	)

Computes the Moore-Penrose pseudoinverse of a matrix.

Parameters

mat	input matrix
eps	represents tolerance

Returns

pseudo-inverse of mat

sampleQuaternion()

template<class Engine , class Scalar , class Quaternion >

Quaternion aikido::common::sampleQuaternion	(	Engine &	_engine,
		std::uniform_real_distribution< Scalar > &	_distribution
	)

Sample a unit quaternion uniformly at random.

This function requires that the provided std::uniform_real_distribution has bounds of [ 0, 1 ].

Template Parameters

Engine	type of random engine
Scalar	type of floating point scalar number
Quaternion	type of quaternion to create

Parameters

_engine	random engine
_distribution	uniform distribution over the range [ 0, 1 ]

Returns

sampled unit quaternion

split()

std::vector<std::string> aikido::common::split	(	const std::string &	string,
		const std::string &	delimiters = " \t"
	)

Splits (tokenizes) a string into substrings that are divided by the given delimiter tokens.

Example:

std::string text = "HERB, the robot.";
 
auto res1 = split(text); // {"HERB,", "the", "robot."}
auto res2 = split(text, ","); // {"HERB", " the robot."}
auto res3 = split(text, "to"); // {"HERB, ", "he r", "b", "."}

Parameters

[in]	string	Input string to be splitted.
[in]	delimiters	Delimiters where any character in this string is considered a delimiter, i.e. the string is interpreted as a set of delimiter characters, not as a single multi-character delimiter.

Returns

The splitted substrings. Space and tab are the default.

Variable Documentation

NUM_DEFAULT_SEEDS

constexpr int aikido::common::NUM_DEFAULT_SEEDS {100}

constexpr

Default number of seeds to by cloneRNGsFrom to seed new engines.