ConcreteManipulator.hpp

Go to the documentation of this file.

#ifndef AIKIDO_ROBOT_CONCRETEMANIPULATOR_HPP_
#define AIKIDO_ROBOT_CONCRETEMANIPULATOR_HPP_
 
#include "aikido/robot/Hand.hpp"
#include "aikido/robot/Manipulator.hpp"
#include "aikido/robot/util.hpp"
 
namespace aikido {
namespace robot {
 
AIKIDO_DECLARE_POINTERS(ConcreteManipulator)
 
class ConcreteManipulator : public Manipulator
{
public:
  // Expose base class functions
  using Manipulator::getHand;
  using Robot::getMetaSkeleton;
  using Robot::getStateSpace;
 
  ConcreteManipulator(RobotPtr robot, HandPtr hand);
 
  virtual ~ConcreteManipulator() = default;
 
  // Documentation inherited.
  virtual ConstHandPtr getHand() const override;
 
  // Documentation inherited.
  virtual std::unique_ptr<aikido::trajectory::Spline> smoothPath(
      const dart::dynamics::MetaSkeletonPtr& metaSkeleton,
      const aikido::trajectory::Trajectory* path,
      const constraint::TestablePtr& constraint) override;
 
  // Documentation inherited.
  virtual std::unique_ptr<aikido::trajectory::Spline> retimePath(
      const dart::dynamics::MetaSkeletonPtr& metaSkeleton,
      const aikido::trajectory::Trajectory* path) override;
 
  // Documentation inherited.
  virtual std::unique_ptr<aikido::trajectory::Spline> retimePathWithKunz(
      const dart::dynamics::MetaSkeletonPtr& metaSkeleton,
      const aikido::trajectory::Trajectory* path,
      double maxDeviation,
      double timestep) override;
 
  // Documentation inherited.
  virtual std::future<void> executeTrajectory(
      const trajectory::TrajectoryPtr& trajectory) const override;
 
  // Documentation inherited.
  virtual boost::optional<Eigen::VectorXd> getNamedConfiguration(
      const std::string& name) const override;
 
  // Documentation inherited.
  virtual void setNamedConfigurations(
      std::unordered_map<std::string, const Eigen::VectorXd>
          namedConfigurations) override;
 
  // Documentation inherited.
  virtual std::string getName() const override;
 
  // Documentation inherited.
  virtual dart::dynamics::ConstMetaSkeletonPtr getMetaSkeleton() const override;
 
  // Documentation inherited.
  virtual aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr
  getStateSpace() const override;
 
  // Documentation inherited.
  virtual void setRoot(Robot* robot) override;
 
  // Documentation inherited.
  virtual void step(
      const std::chrono::system_clock::time_point& timepoint) override;
 
  // Documentation inherited.
  virtual constraint::dart::CollisionFreePtr getSelfCollisionConstraint(
      const statespace::dart::ConstMetaSkeletonStateSpacePtr& space,
      const dart::dynamics::MetaSkeletonPtr& metaSkeleton) const override;
 
  // Documentation inherited.
  virtual aikido::constraint::TestablePtr getFullCollisionConstraint(
      const statespace::dart::ConstMetaSkeletonStateSpacePtr& space,
      const dart::dynamics::MetaSkeletonPtr& metaSkeleton,
      const constraint::dart::CollisionFreePtr& collisionFree) const override;
 
  trajectory::TrajectoryPtr planToEndEffectorOffset(
      const statespace::dart::MetaSkeletonStateSpacePtr& space,
      const dart::dynamics::MetaSkeletonPtr& metaSkeleton,
      const dart::dynamics::BodyNodePtr& body,
      const constraint::dart::CollisionFreePtr& collisionFree,
      const Eigen::Vector3d& direction,
      double distance,
      double timelimit,
      double positionTolerance,
      double angularTolerance);
 
  trajectory::TrajectoryPtr planEndEffectorStraight(
      statespace::dart::MetaSkeletonStateSpacePtr& space,
      const dart::dynamics::MetaSkeletonPtr& metaSkeleton,
      const dart::dynamics::BodyNodePtr& body,
      const constraint::dart::CollisionFreePtr& collisionFree,
      double distance,
      double timelimit,
      double positionTolerance,
      double angularTolerance);
 
  void setVectorFieldPlannerParameters(
      const util::VectorFieldPlannerParameters& vfParameters);
 
  void setCRRTPlannerParameters(
      const util::CRRTPlannerParameters& crrtParameters);
 
private:
  RobotPtr mRobot;
 
  HandPtr mHand;
 
  util::VectorFieldPlannerParameters mVectorFieldParameters;
 
  util::CRRTPlannerParameters mCRRTParameters;
};
 
} // namespace robot
} // namespace aikido
 
#endif // AIKIDO_ROBOT_CONCRETEMANIPULATOR_HPP_