aikido::robot::Manipulator Class Referenceabstract
Base interface for manipulator. More...
#include <aikido/robot/Manipulator.hpp>
Inheritance diagram for aikido::robot::Manipulator:
Public Member Functions | |
| virtual | ~Manipulator ()=default |
| virtual ConstHandPtr | getHand () const =0 |
| Returns the [const] hand. More... | |
| HandPtr | getHand () |
| Returns the hand. More... | |
 Public Member Functions inherited from aikido::robot::Robot | |
| 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 |
| Returns a timed trajectory that can be executed by the robot. More... | |
| virtual std::unique_ptr< aikido::trajectory::Spline > | retimePath (const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const aikido::trajectory::Trajectory *path)=0 |
| 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)=0 |
| Returns a timed trajectory computed with KunzRetimer. More... | |
| virtual std::future< void > | executeTrajectory (const trajectory::TrajectoryPtr &trajectory) const =0 |
| Executes a trajectory. More... | |
| virtual boost::optional< Eigen::VectorXd > | getNamedConfiguration (const std::string &name) const =0 |
| Returns a named configuration. More... | |
| virtual void | setNamedConfigurations (std::unordered_map< std::string, const Eigen::VectorXd > namedConfigurations)=0 |
| Sets the list of named configurations. More... | |
| 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 |
| Sets the root of this robot. More... | |
| virtual void | step (const std::chrono::system_clock::time_point &timepoint)=0 |
| Simulates up to the provided timepoint. More... | |
| virtual constraint::dart::CollisionFreePtr | getSelfCollisionConstraint (const statespace::dart::ConstMetaSkeletonStateSpacePtr &space, const dart::dynamics::MetaSkeletonPtr &metaSkeleton) const =0 |
| Returns self-collision constraint. More... | |
| virtual constraint::TestablePtr | getFullCollisionConstraint (const statespace::dart::ConstMetaSkeletonStateSpacePtr &space, const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const constraint::dart::CollisionFreePtr &collisionFree) const =0 |
| TODO: Consider changing this to return a CollisionFreePtr. More... | |
Detailed Description
Base interface for manipulator.
A manipulator has a hand.
Constructor & Destructor Documentation
◆ ~Manipulator()
|
virtualdefault |
Member Function Documentation
◆ getHand() [1/2]
| HandPtr aikido::robot::Manipulator::getHand | ( | ) |
Returns the hand.
◆ getHand() [2/2]
|
pure virtual |
Returns the [const] hand.
Implemented in aikido::robot::ConcreteManipulator.
