InverseKinematicsSampleable.hpp

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#ifndef AIKIDO_CONSTRAINT_DART_INVERSEKINEMATICSSAMPLEABLE_HPP_
#define AIKIDO_CONSTRAINT_DART_INVERSEKINEMATICSSAMPLEABLE_HPP_
 
#include <dart/dynamics/dynamics.hpp>
 
#include "aikido/constraint/Sampleable.hpp"
#include "aikido/statespace/dart/MetaSkeletonStateSpace.hpp"
 
namespace aikido {
namespace constraint {
namespace dart {
 
class InverseKinematicsSampleable : public Sampleable
{
public:
  InverseKinematicsSampleable(
      statespace::dart::ConstMetaSkeletonStateSpacePtr _metaSkeletonStateSpace,
      ::dart::dynamics::MetaSkeletonPtr _metaskeleton,
      SampleablePtr _poseConstraint,
      SampleablePtr _seedConstraint,
      ::dart::dynamics::InverseKinematicsPtr _inverseKinematics,
      int _maxNumTrials);
 
  virtual ~InverseKinematicsSampleable() = default;
 
  // Documentation inherited.
  statespace::ConstStateSpacePtr getStateSpace() const override;
 
  // Documentation inherited.
  std::unique_ptr<SampleGenerator> createSampleGenerator() const override;
 
private:
  statespace::dart::ConstMetaSkeletonStateSpacePtr mMetaSkeletonStateSpace;
  ::dart::dynamics::MetaSkeletonPtr mMetaSkeleton;
  SampleablePtr mPoseConstraint;
  SampleablePtr mSeedConstraint;
  ::dart::dynamics::InverseKinematicsPtr mInverseKinematics;
  int mMaxNumTrials;
};
 
} // namespace dart
} // namespace constraint
} // namespace aikido
 
#endif // AIKIDO_CONSTRAINT_DART_INVERSEKINEMATICSSAMPLEABLE_HPP_