aikido::constraint::dart::FrameTestable Class Reference

Transforms a SE(3) Testable into a MetaSkeleton-Testable by performing forward kinematics on a configuration (metaskeleton state) and checking the resulting SE(3) pose of the asked frame. More...

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

Inheritance diagram for aikido::constraint::dart::FrameTestable:

Public Member Functions
	FrameTestable (statespace::dart::MetaSkeletonStateSpacePtr _metaSkeletonStateSpace, ::dart::dynamics::MetaSkeletonPtr _metaskeleton, ::dart::dynamics::ConstJacobianNodePtr _frame, TestablePtr _poseConstraint)
	Create a Testable for the MetaSkeleton. More...
bool	isSatisfied (const statespace::StateSpace::State *_state, TestableOutcome *outcome=nullptr) const override
	Check if the constraint is satisfied by performing forward kinematics and testing the poseConstraint. More...
std::unique_ptr< TestableOutcome >	createOutcome () const override
	Return the outcome of mPoseConstraint->createOutcome(). More...
statespace::ConstStateSpacePtr	getStateSpace () const override
	Returns StateSpace in which this constraint operates. More...
Public Member Functions inherited from aikido::constraint::Testable
virtual	~Testable ()=default

Private Attributes
statespace::dart::ConstMetaSkeletonStateSpacePtr	mMetaSkeletonStateSpace
::dart::dynamics::MetaSkeletonPtr	mMetaSkeleton
::dart::dynamics::ConstJacobianNodePtr	mFrame
TestablePtr	mPoseConstraint
std::shared_ptr< const statespace::SE3 >	mPoseStateSpace

Detailed Description

Transforms a SE(3) Testable into a MetaSkeleton-Testable by performing forward kinematics on a configuration (metaskeleton state) and checking the resulting SE(3) pose of the asked frame.

Constructor & Destructor Documentation

FrameTestable()

aikido::constraint::dart::FrameTestable::FrameTestable	(	statespace::dart::MetaSkeletonStateSpacePtr	_metaSkeletonStateSpace,
		::dart::dynamics::MetaSkeletonPtr	_metaskeleton,
		::dart::dynamics::ConstJacobianNodePtr	_frame,
		TestablePtr	_poseConstraint
	)

Create a Testable for the MetaSkeleton.

Parameters

_metaSkeletonStateSpace	Configuration space of the metaskeleton.
_metaskeleton	MetaSkeleton to test with
_frame	Frame constrained by _poseConstraint.
_poseConstraint	A testable constraint on _frame.

Member Function Documentation

createOutcome()

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

overridevirtual

Return the outcome of mPoseConstraint->createOutcome().

Reason: isSatisfied in this class will just pass outcome to the isSatisfied method of of mPoseConstraint.

Implements aikido::constraint::Testable.

getStateSpace()

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

overridevirtual

Returns StateSpace in which this constraint operates.

Implements aikido::constraint::Testable.

isSatisfied()

bool aikido::constraint::dart::FrameTestable::isSatisfied ( const statespace::StateSpace::State *  _state, TestableOutcome *  outcome = nullptr  ) const

overridevirtual

Check if the constraint is satisfied by performing forward kinematics and testing the poseConstraint.

Parameters

_state	a MetaskeletonState to set the configuration of this constraint's metaskeketon. This state's StateSpace should match StateSpace returend by getStateSpace().
outcome	Testable outcome derivative class. Passed to the isSatisfied method of mPoseConstraint to allow "pass through" of debugging information.

Implements aikido::constraint::Testable.

Member Data Documentation

mFrame

::dart::dynamics::ConstJacobianNodePtr aikido::constraint::dart::FrameTestable::mFrame

private

mMetaSkeleton

::dart::dynamics::MetaSkeletonPtr aikido::constraint::dart::FrameTestable::mMetaSkeleton

private

mMetaSkeletonStateSpace

statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::constraint::dart::FrameTestable::mMetaSkeletonStateSpace

private

mPoseConstraint

TestablePtr aikido::constraint::dart::FrameTestable::mPoseConstraint

private

mPoseStateSpace

std::shared_ptr<const statespace::SE3> aikido::constraint::dart::FrameTestable::mPoseStateSpace

private