Robot.hpp

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#ifndef AIKIDO_ROBOT_ROBOT_HPP_
#define AIKIDO_ROBOT_ROBOT_HPP_
 
#include <chrono>
#include <unordered_map>
 
#include <Eigen/Core>
#include <dart/dynamics/dynamics.hpp>
 
#include "aikido/common/RNG.hpp"
#include "aikido/constraint/dart/CollisionFree.hpp"
#include "aikido/constraint/dart/TSR.hpp"
#include "aikido/control/TrajectoryExecutor.hpp"
#include "aikido/statespace/dart/MetaSkeletonStateSpace.hpp"
#include "aikido/trajectory/Spline.hpp"
#include "aikido/trajectory/Trajectory.hpp"
 
namespace aikido {
namespace robot {
 
AIKIDO_DECLARE_POINTERS(Robot)
 
class Robot
{
public:
  virtual ~Robot() = default;
 
  virtual std::unique_ptr<aikido::trajectory::Spline> smoothPath(
      const dart::dynamics::MetaSkeletonPtr& metaSkeleton,
      const aikido::trajectory::Trajectory* path,
      const constraint::TestablePtr& constraint)
      = 0;
 
  virtual std::unique_ptr<aikido::trajectory::Spline> retimePath(
      const dart::dynamics::MetaSkeletonPtr& metaSkeleton,
      const aikido::trajectory::Trajectory* path)
      = 0;
 
  virtual std::unique_ptr<aikido::trajectory::Spline> retimePathWithKunz(
      const dart::dynamics::MetaSkeletonPtr& metaSkeleton,
      const aikido::trajectory::Trajectory* path,
      double maxDeviation,
      double timestep)
      = 0;
 
  virtual std::future<void> executeTrajectory(
      const trajectory::TrajectoryPtr& trajectory) const = 0;
 
  virtual boost::optional<Eigen::VectorXd> getNamedConfiguration(
      const std::string& name) const = 0;
 
  virtual void setNamedConfigurations(
      std::unordered_map<std::string, const Eigen::VectorXd>
          namedConfigurations)
      = 0;
 
  virtual std::string getName() const = 0;
 
  virtual dart::dynamics::ConstMetaSkeletonPtr getMetaSkeleton() const = 0;
 
  dart::dynamics::MetaSkeletonPtr getMetaSkeleton();
 
  virtual aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr
  getStateSpace() const = 0;
 
  aikido::statespace::dart::MetaSkeletonStateSpacePtr getStateSpace();
 
  virtual void setRoot(Robot* robot) = 0;
 
  virtual void step(const std::chrono::system_clock::time_point& timepoint) = 0;
 
  virtual constraint::dart::CollisionFreePtr getSelfCollisionConstraint(
      const statespace::dart::ConstMetaSkeletonStateSpacePtr& space,
      const dart::dynamics::MetaSkeletonPtr& metaSkeleton) const = 0;
 
  virtual constraint::TestablePtr getFullCollisionConstraint(
      const statespace::dart::ConstMetaSkeletonStateSpacePtr& space,
      const dart::dynamics::MetaSkeletonPtr& metaSkeleton,
      const constraint::dart::CollisionFreePtr& collisionFree) const = 0;
};
 
} // namespace robot
} // namespace aikido
 
#endif // AIKIDO_ROBOT_ROBOT_HPP_