aikido::control::InstantaneousTrajectoryExecutor Class Reference

Instantaneously executes a trajectory in simulation by setting DOF positions to the end of the trajectory. More...

#include <aikido/control/InstantaneousTrajectoryExecutor.hpp>

Inheritance diagram for aikido::control::InstantaneousTrajectoryExecutor:

Public Member Functions
	InstantaneousTrajectoryExecutor (::dart::dynamics::SkeletonPtr skeleton)
	Constructor. More...
virtual	~InstantaneousTrajectoryExecutor ()
void	validate (const trajectory::Trajectory *traj) override
	Validate the traj in preparation for execution. More...
std::future< void >	execute (const trajectory::ConstTrajectoryPtr &traj) override
	Instantaneously execute traj and set future upon completion. More...
void	step (const std::chrono::system_clock::time_point &) override
	Does nothing. More...
void	cancel () override
	Does nothing. More...
Public Member Functions inherited from aikido::control::TrajectoryExecutor
virtual	~TrajectoryExecutor ()=default

Private Attributes
::dart::dynamics::SkeletonPtr	mSkeleton
	Skeleton to execute trajectories on. More...
std::unique_ptr< std::promise< void > >	mPromise
	Promise whose future is returned by execute() More...
std::mutex	mMutex
	Manages access to mPromise. More...

Additional Inherited Members
Protected Attributes inherited from aikido::control::TrajectoryExecutor
std::set< const trajectory::Trajectory * >	mValidatedTrajectories
	Set of trajectories validated by executor. More...
std::chrono::system_clock::time_point	mExecutionStartTime
	Time of previous call. More...

Detailed Description

Instantaneously executes a trajectory in simulation by setting DOF positions to the end of the trajectory.

Constructor & Destructor Documentation

InstantaneousTrajectoryExecutor()

aikido::control::InstantaneousTrajectoryExecutor::InstantaneousTrajectoryExecutor ( ::dart::dynamics::SkeletonPtr  skeleton )

explicit

Constructor.

Parameters

skeleton

Skeleton to execute trajectories on. All trajectories must have dofs only in this skeleton.

~InstantaneousTrajectoryExecutor()

virtual aikido::control::InstantaneousTrajectoryExecutor::~InstantaneousTrajectoryExecutor ( )

virtual

Member Function Documentation

cancel()

void aikido::control::InstantaneousTrajectoryExecutor::cancel ( )

overridevirtual

Does nothing.

Implements aikido::control::TrajectoryExecutor.

execute()

std::future<void> aikido::control::InstantaneousTrajectoryExecutor::execute ( const trajectory::ConstTrajectoryPtr &  traj )

overridevirtual

Instantaneously execute traj and set future upon completion.

Parameters

traj	Trajectory to be executed. Its StateSpace should be a MetaSkeletonStateSpace, where the dofs are all in the skeleton passed to this constructor.

Returns

future<void> for trajectory execution. If trajectory terminates before completion, future will be set to a runtime_error.

Exceptions

invalid_argument

if traj is invalid.

Implements aikido::control::TrajectoryExecutor.

step()

void aikido::control::InstantaneousTrajectoryExecutor::step ( const std::chrono::system_clock::time_point &  )

overridevirtual

Does nothing.

Implements aikido::control::TrajectoryExecutor.

validate()

void aikido::control::InstantaneousTrajectoryExecutor::validate ( const trajectory::Trajectory *  traj )

overridevirtual

Validate the traj in preparation for execution.

Parameters

traj	Trajectory to be validated

Implements aikido::control::TrajectoryExecutor.

Member Data Documentation

mMutex

std::mutex aikido::control::InstantaneousTrajectoryExecutor::mMutex

mutableprivate

Manages access to mPromise.

mPromise

std::unique_ptr<std::promise<void> > aikido::control::InstantaneousTrajectoryExecutor::mPromise

private

Promise whose future is returned by execute()

mSkeleton

::dart::dynamics::SkeletonPtr aikido::control::InstantaneousTrajectoryExecutor::mSkeleton

private

Skeleton to execute trajectories on.