#include <aikido/robot/ConcreteRobot.hpp>

Inheritance diagram for aikido::robot::ConcreteRobot:

Public Member Functions
	ConcreteRobot (const std::string &name, dart::dynamics::MetaSkeletonPtr metaSkeleton, bool simulation, aikido::common::UniqueRNGPtr rng, aikido::control::TrajectoryExecutorPtr trajectoryExecutor, dart::collision::CollisionDetectorPtr collisionDetector, std::shared_ptr< dart::collision::BodyNodeCollisionFilter > selfCollisionFilter)
	Constructor. More...

virtual	~ConcreteRobot ()=default

virtual aikido::trajectory::UniqueSplinePtr	smoothPath (const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const aikido::trajectory::Trajectory *path, const constraint::TestablePtr &constraint) override
	Returns a timed trajectory that can be executed by the robot. More...

virtual aikido::trajectory::UniqueSplinePtr	retimePath (const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const aikido::trajectory::Trajectory *path) override
	Returns a timed trajectory that can be executed by the robot. More...

virtual std::unique_ptr< aikido::trajectory::Spline >	retimePathWithKunz (const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const aikido::trajectory::Trajectory *path, double maxDeviation, double timestep) override
	Returns a timed trajectory computed with KunzRetimer. More...

virtual std::future< void >	executeTrajectory (const trajectory::TrajectoryPtr &trajectory) const override
	Executes a trajectory. More...

virtual boost::optional< Eigen::VectorXd >	getNamedConfiguration (const std::string &name) const override
	Returns a named configuration. More...

virtual void	setNamedConfigurations (std::unordered_map< std::string, const Eigen::VectorXd > namedConfigurations) override
	Sets the list of named configurations. More...

virtual std::string	getName () const override

virtual dart::dynamics::ConstMetaSkeletonPtr	getMetaSkeleton () const override

virtual aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr	getStateSpace () const override

virtual void	setRoot (Robot *robot) override
	Sets the root of this robot. More...

virtual void	step (const std::chrono::system_clock::time_point &timepoint) override
	Simulates up to the provided timepoint. More...

virtual aikido::constraint::dart::CollisionFreePtr	getSelfCollisionConstraint (const statespace::dart::ConstMetaSkeletonStateSpacePtr &space, const dart::dynamics::MetaSkeletonPtr &metaSkeleton) const override
	Returns self-collision constraint. More...

virtual aikido::constraint::TestablePtr	getFullCollisionConstraint (const statespace::dart::ConstMetaSkeletonStateSpacePtr &space, const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const constraint::dart::CollisionFreePtr &collisionFree) const override
	TODO: Consider changing this to return a CollisionFreePtr. More...

std::shared_ptr< aikido::planner::TrajectoryPostProcessor >	getTrajectoryPostProcessor (const dart::dynamics::MetaSkeletonPtr &metaSkeleton, bool enableShortcut, bool enableBlend, double shortcutTimelimit, double blendRadius, int blendIterations, double feasibilityCheckResolution, double feasibilityApproxTolerance) const

aikido::trajectory::TrajectoryPtr	planToConfiguration (const aikido::statespace::dart::MetaSkeletonStateSpacePtr &stateSpace, const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const aikido::statespace::StateSpace::State *goalState, const aikido::constraint::dart::CollisionFreePtr &collisionFree, double timelimit)
	TODO: Replace this with Problem interface. More...

aikido::trajectory::TrajectoryPtr	planToConfiguration (const aikido::statespace::dart::MetaSkeletonStateSpacePtr &stateSpace, const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const Eigen::VectorXd &goal, const aikido::constraint::dart::CollisionFreePtr &collisionFree, double timelimit)
	TODO: Replace this with Problem interface. More...

aikido::trajectory::TrajectoryPtr	planToConfigurations (const aikido::statespace::dart::MetaSkeletonStateSpacePtr &stateSpace, const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const std::vector< aikido::statespace::StateSpace::State * > &goalStates, const aikido::constraint::dart::CollisionFreePtr &collisionFree, double timelimit)
	TODO: Replace this with Problem interface. More...

aikido::trajectory::TrajectoryPtr	planToConfigurations (const aikido::statespace::dart::MetaSkeletonStateSpacePtr &stateSpace, const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const std::vector< Eigen::VectorXd > &goals, const aikido::constraint::dart::CollisionFreePtr &collisionFree, double timelimit)
	TODO: Replace this with Problem interface. More...

aikido::trajectory::TrajectoryPtr	planToTSR (const aikido::statespace::dart::MetaSkeletonStateSpacePtr &stateSpace, const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const dart::dynamics::BodyNodePtr &bodyNode, const aikido::constraint::dart::TSRPtr &tsr, const aikido::constraint::dart::CollisionFreePtr &collisionFree, double timelimit, std::size_t maxNumTrials, const distance::ConstConfigurationRankerPtr &ranker=nullptr)
	TODO: Replace this with Problem interface. More...

aikido::trajectory::TrajectoryPtr	planToTSRwithTrajectoryConstraint (const aikido::statespace::dart::MetaSkeletonStateSpacePtr &stateSpace, const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const dart::dynamics::BodyNodePtr &bodyNode, const aikido::constraint::dart::TSRPtr &goalTsr, const aikido::constraint::dart::TSRPtr &constraintTsr, const aikido::constraint::dart::CollisionFreePtr &collisionFree, double timelimit)
	TODO: Replace this with Problem interface. More...

aikido::trajectory::TrajectoryPtr	planToNamedConfiguration (const std::string &name, const aikido::constraint::dart::CollisionFreePtr &collisionFree, double timelimit)
	Plans to a named configuration. More...

void	setCRRTPlannerParameters (const util::CRRTPlannerParameters &crrtParameters)
	TODO: This should be revisited once we have Planner API. More...

Eigen::VectorXd	getVelocityLimits (const dart::dynamics::MetaSkeleton &metaSkeleton) const
	Computes velocity limits from the MetaSkeleton. More...

Eigen::VectorXd	getAccelerationLimits (const dart::dynamics::MetaSkeleton &metaSkeleton) const
	Computes acceleration limits from the MetaSkeleton. More...

virtual dart::dynamics::ConstMetaSkeletonPtr	getMetaSkeleton () const=0

dart::dynamics::MetaSkeletonPtr	getMetaSkeleton ()

virtual aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr	getStateSpace () const=0

aikido::statespace::dart::MetaSkeletonStateSpacePtr	getStateSpace ()

Public Member Functions inherited from aikido::robot::Robot
virtual	~Robot ()=default

dart::dynamics::MetaSkeletonPtr	getMetaSkeleton ()

aikido::statespace::dart::MetaSkeletonStateSpacePtr	getStateSpace ()

Private Types
using	ConfigurationMap = std::unordered_map< std::string, const Eigen::VectorXd >

Private Member Functions
std::unique_ptr< aikido::common::RNG >	cloneRNG ()

Private Attributes
Robot *	mRootRobot
	If this robot belongs to another (Composite)Robot, mRootRobot is the topmost robot containing this robot. More...

std::string	mName
	Name of this robot. More...

dart::dynamics::MetaSkeletonPtr	mMetaSkeleton
	MetaSkeleton of this robot. More...

statespace::dart::MetaSkeletonStateSpacePtr	mStateSpace

dart::dynamics::SkeletonPtr	mParentSkeleton
	Skeleton containing mRobot. More...

std::unique_ptr< common::RNG >	mRng
	True if running in simulation mode. More...

std::shared_ptr< control::TrajectoryExecutor >	mTrajectoryExecutor

ConfigurationMap	mNamedConfigurations
	Commonly used configurations. More...

::dart::collision::CollisionDetectorPtr	mCollisionDetector

std::shared_ptr< dart::collision::BodyNodeCollisionFilter >	mSelfCollisionFilter

util::CRRTPlannerParameters	mCRRTParameters

Member Typedef Documentation

◆ ConfigurationMap

using aikido::robot::ConcreteRobot::ConfigurationMap = std::unordered_map<std::string, const Eigen::VectorXd>

private

Constructor & Destructor Documentation

◆ ConcreteRobot()

aikido::robot::ConcreteRobot::ConcreteRobot	(	const std::string &	name,
		dart::dynamics::MetaSkeletonPtr	metaSkeleton,
		bool	simulation,
		aikido::common::UniqueRNGPtr	rng,
		aikido::control::TrajectoryExecutorPtr	trajectoryExecutor,
		dart::collision::CollisionDetectorPtr	collisionDetector,
		std::shared_ptr< dart::collision::BodyNodeCollisionFilter >	selfCollisionFilter
	)

Constructor.

Parameters

[in]	name	Name of the robot.
[in]	metaSkeleton	Metaskeleton of the robot.
[in]	simulation	True for running in simulation.
[in]	rng	Random number generator.
[in]	trajectoryExecutor	Trajectory executor for the metaSkeleton.
[in]	collisionDetector	Collision detector.
[in]	selfCollisionFilter	Collision filter for self collision.

◆ ~ConcreteRobot()

virtual aikido::robot::ConcreteRobot::~ConcreteRobot ( )

virtualdefault

Member Function Documentation

◆ cloneRNG()

std::unique_ptr<aikido::common::RNG> aikido::robot::ConcreteRobot::cloneRNG ( )

private

◆ executeTrajectory()

virtual std::future<void> aikido::robot::ConcreteRobot::executeTrajectory ( const trajectory::TrajectoryPtr & trajectory ) const

overridevirtual

Executes a trajectory.

Parameters

[in] trajectory Timed trajectory to execute

Implements aikido::robot::Robot.

◆ getAccelerationLimits()

Eigen::VectorXd aikido::robot::ConcreteRobot::getAccelerationLimits ( const dart::dynamics::MetaSkeleton & metaSkeleton ) const

Computes acceleration limits from the MetaSkeleton.

These should be interpreted as absolute in both the positive and negative directions.

Parameters

[in] metaSkeleton MetaSkeleton to compute limits for.

Returns: Symmetric acceleration limits.

◆ getFullCollisionConstraint()

virtual aikido::constraint::TestablePtr aikido::robot::ConcreteRobot::getFullCollisionConstraint	(	const statespace::dart::ConstMetaSkeletonStateSpacePtr &	space,
		const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const constraint::dart::CollisionFreePtr &	collisionFree
	)		const

overridevirtual

TODO: Consider changing this to return a CollisionFreePtr.

Combines provided collision constraint with self collision constraint.

Parameters

[in]	space	Space in which this collision constraint operates.
[in]	metaSkeleton	Metaskeleton for the statespace.
[in]	collisionFree	Collision constraint.

Returns: Combined constraint.

Implements aikido::robot::Robot.

◆ getMetaSkeleton() [1/3]

dart::dynamics::MetaSkeletonPtr aikido::robot::Robot::getMetaSkeleton

Returns: MetaSkeleton of this robot.

◆ getMetaSkeleton() [2/3]

virtual dart::dynamics::ConstMetaSkeletonPtr aikido::robot::ConcreteRobot::getMetaSkeleton ( ) const

overridevirtual

Returns: [const] MetaSkeleton of this robot.

Implements aikido::robot::Robot.

◆ getMetaSkeleton() [3/3]

virtual dart::dynamics::ConstMetaSkeletonPtr aikido::robot::Robot::getMetaSkeleton

Returns: [const] MetaSkeleton of this robot.

◆ getName()

virtual std::string aikido::robot::ConcreteRobot::getName ( ) const

overridevirtual

Returns: Name of this Robot

Implements aikido::robot::Robot.

◆ getNamedConfiguration()

virtual boost::optional<Eigen::VectorXd> aikido::robot::ConcreteRobot::getNamedConfiguration ( const std::string & name ) const

overridevirtual

Returns a named configuration.

Parameters

[in] name Name of the configuration

Returns: Configuration

Implements aikido::robot::Robot.

◆ getSelfCollisionConstraint()

virtual aikido::constraint::dart::CollisionFreePtr aikido::robot::ConcreteRobot::getSelfCollisionConstraint	(	const statespace::dart::ConstMetaSkeletonStateSpacePtr &	space,
		const dart::dynamics::MetaSkeletonPtr &	metaSkeleton
	)		const

overridevirtual

Returns self-collision constraint.

Parameters

[in]	space	Space in which this collision constraint operates.
[in]	metaSkeleton	Metaskeleton for the statespace.

Implements aikido::robot::Robot.

◆ getStateSpace() [1/3]

aikido::statespace::dart::MetaSkeletonStateSpacePtr aikido::robot::Robot::getStateSpace

Returns: MetaSkeletonStateSpace of this robot.

◆ getStateSpace() [2/3]

virtual aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::robot::ConcreteRobot::getStateSpace ( ) const

overridevirtual

Returns: [const] MetaSkeletonStateSpace of this robot.

Implements aikido::robot::Robot.

◆ getStateSpace() [3/3]

virtual aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::robot::Robot::getStateSpace

Returns: [const] MetaSkeletonStateSpace of this robot.

◆ getTrajectoryPostProcessor()

std::shared_ptr<aikido::planner::TrajectoryPostProcessor> aikido::robot::ConcreteRobot::getTrajectoryPostProcessor	(	const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		bool	enableShortcut,
		bool	enableBlend,
		double	shortcutTimelimit,
		double	blendRadius,
		int	blendIterations,
		double	feasibilityCheckResolution,
		double	feasibilityApproxTolerance
	)		const

Parameters

[in] metaSkeleton The MetaSkeleton whose limits must be respected.

◆ getVelocityLimits()

Eigen::VectorXd aikido::robot::ConcreteRobot::getVelocityLimits ( const dart::dynamics::MetaSkeleton & metaSkeleton ) const

Computes velocity limits from the MetaSkeleton.

These should be interpreted as absolute in both the positive and negative directions.

Parameters

[in] metaSkeleton MetaSkeleton to compute limits for.

Returns: Symmetric velocity limits.

◆ planToConfiguration() [1/2]

aikido::trajectory::TrajectoryPtr aikido::robot::ConcreteRobot::planToConfiguration	(	const aikido::statespace::dart::MetaSkeletonStateSpacePtr &	stateSpace,
		const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const aikido::statespace::StateSpace::State *	goalState,
		const aikido::constraint::dart::CollisionFreePtr &	collisionFree,
		double	timelimit
	)

TODO: Replace this with Problem interface.

Plan the robot to a specific configuration. Restores the robot to its initial configuration after planning.

Parameters

[in]	stateSpace	The StateSpace for the metaskeleton
[in]	metaSkeleton	Metaskeleton to plan with.
[in]	goalState	Goal state
[in]	collisionFree	Testable constraint to check for collision.
[in]	timelimit	Max time to spend per planning to each IK

Returns: Trajectory. nullptr if fails to find a trajectory.

◆ planToConfiguration() [2/2]

aikido::trajectory::TrajectoryPtr aikido::robot::ConcreteRobot::planToConfiguration	(	const aikido::statespace::dart::MetaSkeletonStateSpacePtr &	stateSpace,
		const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const Eigen::VectorXd &	goal,
		const aikido::constraint::dart::CollisionFreePtr &	collisionFree,
		double	timelimit
	)

TODO: Replace this with Problem interface.

Wrapper for planToConfiguration using Eigen vectors. Plan the robot to a specific configuration. Restores the robot to its initial configuration after planning.

Parameters

[in]	stateSpace	The StateSpace for the metaskeleton
[in]	metaSkeleton	Metaskeleton to plan with.
[in]	goal	Goal position
[in]	collisionFree	Testable constraint to check for collision.
[in]	timelimit	Max time to spend per planning to each IK

Returns: Trajectory. nullptr if fails to find a trajectory.

◆ planToConfigurations() [1/2]

aikido::trajectory::TrajectoryPtr aikido::robot::ConcreteRobot::planToConfigurations	(	const aikido::statespace::dart::MetaSkeletonStateSpacePtr &	stateSpace,
		const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const std::vector< aikido::statespace::StateSpace::State * > &	goalStates,
		const aikido::constraint::dart::CollisionFreePtr &	collisionFree,
		double	timelimit
	)

TODO: Replace this with Problem interface.

Plan the robot to a set of configurations. Restores the robot to its initial configuration after planning.

Parameters

[in]	stateSpace	The StateSpace for the metaskeleton
[in]	metaSkeleton	Metaskeleton to plan with.
[in]	goalStates	A set of goal states.
[in]	collisionFree	Testable constraint to check for collision.
[in]	timelimit	Max time to spend per planning to each IK

Returns: Trajectory. nullptr if fails to find a trajectory.

◆ planToConfigurations() [2/2]

aikido::trajectory::TrajectoryPtr aikido::robot::ConcreteRobot::planToConfigurations	(	const aikido::statespace::dart::MetaSkeletonStateSpacePtr &	stateSpace,
		const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const std::vector< Eigen::VectorXd > &	goals,
		const aikido::constraint::dart::CollisionFreePtr &	collisionFree,
		double	timelimit
	)

TODO: Replace this with Problem interface.

Plan the robot to a set of configurations. Restores the robot to its initial configuration after planning.

Parameters

[in]	stateSpace	The StateSpace for the metaskeleton
[in]	metaSkeleton	Metaskeleton to plan with.
[in]	goals	A set of goals.
[in]	collisionFree	Testable constraint to check for collision.
[in]	timelimit	Max time to spend per planning to each IK

Returns: Trajectory. nullptr if fails to find a trajectory.

◆ planToNamedConfiguration()

aikido::trajectory::TrajectoryPtr aikido::robot::ConcreteRobot::planToNamedConfiguration	(	const std::string &	name,
		const aikido::constraint::dart::CollisionFreePtr &	collisionFree,
		double	timelimit
	)

Plans to a named configuration.

Parameters

[in]	name	Name of the configuration to plan to
[in]	collisionFree	Collision constraint
[in]	timelimit	Max time (seconds) to spend

Returns: Trajectory to the configuration, or nullptr if planning fails

◆ planToTSR()

aikido::trajectory::TrajectoryPtr aikido::robot::ConcreteRobot::planToTSR	(	const aikido::statespace::dart::MetaSkeletonStateSpacePtr &	stateSpace,
		const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const dart::dynamics::BodyNodePtr &	bodyNode,
		const aikido::constraint::dart::TSRPtr &	tsr,
		const aikido::constraint::dart::CollisionFreePtr &	collisionFree,
		double	timelimit,
		std::size_t	maxNumTrials,
		const distance::ConstConfigurationRankerPtr &	ranker = `nullptr`
	)

TODO: Replace this with Problem interface.

Plans the configuration of the metakeleton such that the specified bodynode is set to a sample in TSR

Parameters

[in]	stateSpace	The StateSpace for the metaskeleton.
[in]	metaSkeleton	The MetaSkeleton to plan with.
[in]	bodyNode	Bodynode whose frame for which TSR is constructed.
[in]	tsr	TSR
[in]	collisionFree	Testable constraint to check for collision.
[in]	timelimit	Max time (seconds) to spend per planning to each IK
[in]	maxNumTrials	Max numer of trials to plan.
[in]	ranker	Ranker to rank the sampled configurations. If nullptr, NominalConfigurationRanker is used with the current metaSkeleton pose.

Returns: Trajectory to a sample in TSR, or nullptr if planning fails.

◆ planToTSRwithTrajectoryConstraint()

aikido::trajectory::TrajectoryPtr aikido::robot::ConcreteRobot::planToTSRwithTrajectoryConstraint	(	const aikido::statespace::dart::MetaSkeletonStateSpacePtr &	stateSpace,
		const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const dart::dynamics::BodyNodePtr &	bodyNode,
		const aikido::constraint::dart::TSRPtr &	goalTsr,
		const aikido::constraint::dart::TSRPtr &	constraintTsr,
		const aikido::constraint::dart::CollisionFreePtr &	collisionFree,
		double	timelimit
	)

TODO: Replace this with Problem interface.

Returns a Trajectory that moves the configuration of the metakeleton such that the specified bodynode is set to a sample in a goal TSR and the trajectory is constrained to a constraint TSR

Parameters

[in]	stateSpace	The StateSpace for the metaskeleton
[in]	metaSkeleton	The MetaSkeleton to plan with.
[in]	bodyNode	Bodynode whose frame is meant for TSR
[in]	goalTsr	The goal TSR to move to
[in]	constraintTsr	The constraint TSR for the trajectory
[in]	collisionFree	Collision constraint
[in]	timelimit	Max time (seconds) to spend per planning to each IK

Returns: Trajectory to a sample in TSR, or nullptr if planning fails.

◆ retimePath()

virtual aikido::trajectory::UniqueSplinePtr aikido::robot::ConcreteRobot::retimePath	(	const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const aikido::trajectory::Trajectory *	path
	)

overridevirtual

Returns a timed trajectory that can be executed by the robot.

Parameters

[in]	metaSkeleton	Metaskeleton of the path.
[in]	path	Geometric path to execute.

Implements aikido::robot::Robot.

◆ retimePathWithKunz()

virtual std::unique_ptr<aikido::trajectory::Spline> aikido::robot::ConcreteRobot::retimePathWithKunz	(	const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const aikido::trajectory::Trajectory *	path,
		double	maxDeviation,
		double	timestep
	)

overridevirtual

Returns a timed trajectory computed with KunzRetimer.

Parameters

[in]	metaSkeleton	Metaskeleton of the path.
[in]	path	Geometric path to execute.
[in]	maxDeviation	Maximum deviation allowed from original path.
[in]	timestep	Time step between trajectory points.

Implements aikido::robot::Robot.

◆ setCRRTPlannerParameters()

void aikido::robot::ConcreteRobot::setCRRTPlannerParameters ( const util::CRRTPlannerParameters & crrtParameters )

TODO: This should be revisited once we have Planner API.

Sets CRRTPlanner parameters.

Parameters

[in] crrtParameters CRRT planner parameters

◆ setNamedConfigurations()

virtual void aikido::robot::ConcreteRobot::setNamedConfigurations ( std::unordered_map< std::string, const Eigen::VectorXd > namedConfigurations )

overridevirtual

Sets the list of named configurations.

Parameters

[in] namedConfigurations Map of name, configuration

Implements aikido::robot::Robot.

◆ setRoot()

virtual void aikido::robot::ConcreteRobot::setRoot ( Robot * robot )

overridevirtual

Sets the root of this robot.

Parameters

[in] robot Parent robot

Implements aikido::robot::Robot.

◆ smoothPath()

virtual aikido::trajectory::UniqueSplinePtr aikido::robot::ConcreteRobot::smoothPath	(	const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const aikido::trajectory::Trajectory *	path,
		const constraint::TestablePtr &	constraint
	)

overridevirtual

Returns a timed trajectory that can be executed by the robot.

Parameters

[in]	metaSkeleton	Metaskeleton of the path.
[in]	path	Geometric path to execute.
[in]	constraint	Must be satisfied after postprocessing. Typically collision constraint is passed.

Implements aikido::robot::Robot.

◆ step()

virtual void aikido::robot::ConcreteRobot::step ( const std::chrono::system_clock::time_point & timepoint )

overridevirtual

Simulates up to the provided timepoint.

Note: Assumes that the robot's skeleton is locked.

Parameters

[in] timepoint Time to simulate to.

Implements aikido::robot::Robot.

Member Data Documentation

◆ mCollisionDetector

::dart::collision::CollisionDetectorPtr aikido::robot::ConcreteRobot::mCollisionDetector

private

◆ mCRRTParameters

util::CRRTPlannerParameters aikido::robot::ConcreteRobot::mCRRTParameters

private

◆ mMetaSkeleton

dart::dynamics::MetaSkeletonPtr aikido::robot::ConcreteRobot::mMetaSkeleton

private

MetaSkeleton of this robot.

◆ mName

std::string aikido::robot::ConcreteRobot::mName

private

Name of this robot.

◆ mNamedConfigurations

ConfigurationMap aikido::robot::ConcreteRobot::mNamedConfigurations

private

Commonly used configurations.

◆ mParentSkeleton

dart::dynamics::SkeletonPtr aikido::robot::ConcreteRobot::mParentSkeleton

private

Skeleton containing mRobot.

◆ mRng

std::unique_ptr<common::RNG> aikido::robot::ConcreteRobot::mRng

private

True if running in simulation mode.

◆ mRootRobot

Robot* aikido::robot::ConcreteRobot::mRootRobot

private

If this robot belongs to another (Composite)Robot, mRootRobot is the topmost robot containing this robot.

◆ mSelfCollisionFilter

std::shared_ptr<dart::collision::BodyNodeCollisionFilter> aikido::robot::ConcreteRobot::mSelfCollisionFilter

private

◆ mStateSpace

statespace::dart::MetaSkeletonStateSpacePtr aikido::robot::ConcreteRobot::mStateSpace

private

◆ mTrajectoryExecutor

std::shared_ptr<control::TrajectoryExecutor> aikido::robot::ConcreteRobot::mTrajectoryExecutor

private

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Member Typedef Documentation

◆ ConfigurationMap

Constructor & Destructor Documentation

◆ ConcreteRobot()

◆ ~ConcreteRobot()

Member Function Documentation

◆ cloneRNG()

◆ executeTrajectory()

◆ getAccelerationLimits()

◆ getFullCollisionConstraint()

◆ getMetaSkeleton() [1/3]

◆ getMetaSkeleton() [2/3]

◆ getMetaSkeleton() [3/3]

◆ getName()

◆ getNamedConfiguration()

◆ getSelfCollisionConstraint()

◆ getStateSpace() [1/3]

◆ getStateSpace() [2/3]

◆ getStateSpace() [3/3]

◆ getTrajectoryPostProcessor()

◆ getVelocityLimits()

◆ planToConfiguration() [1/2]

◆ planToConfiguration() [2/2]

◆ planToConfigurations() [1/2]

◆ planToConfigurations() [2/2]

◆ planToNamedConfiguration()

◆ planToTSR()

◆ planToTSRwithTrajectoryConstraint()

◆ retimePath()

◆ retimePathWithKunz()

◆ setCRRTPlannerParameters()

◆ setNamedConfigurations()

◆ setRoot()

◆ smoothPath()

◆ step()

Member Data Documentation

◆ mCollisionDetector

◆ mCRRTParameters

◆ mMetaSkeleton

◆ mName

◆ mNamedConfigurations

◆ mParentSkeleton

◆ mRng

◆ mRootRobot

◆ mSelfCollisionFilter

◆ mStateSpace

◆ mTrajectoryExecutor