SO3 for a DART BallJoint. More...

#include <aikido/statespace/dart/SO3Joint.hpp>

Inheritance diagram for aikido::statespace::dart::SO3Joint:

Public Member Functions
	SO3Joint (const ::dart::dynamics::BallJoint *joint)
	Creates a state space for a `BallJoint`. More...

void	convertPositionsToState (const Eigen::VectorXd &positions, StateSpace::State *state) const override
	Converts DART `Joint` positions, e.g. More...

void	convertStateToPositions (const StateSpace::State *state, Eigen::VectorXd &positions) const override
	Converts a `State` in this state space to DART `Joint` positions, e.g. More...

Public Member Functions inherited from aikido::statespace::SO3
	SO3 ()=default
	Constructs a state space representing SO(3). More...

ScopedState	createState () const
	Helper function to create a `ScopedState`. More...

ScopedState	cloneState (const StateSpace::State *stateIn) const
	Creates an identical clone of `stateIn`. More...

const Quaternion &	getQuaternion (const State *_state) const
	Gets a state as a unit quaternion. More...

void	setQuaternion (State *_state, const Quaternion &_quaternion) const
	Sets a state to a unit quaternion. More...

std::size_t	getStateSizeInBytes () const override
	Gets the size of a State, in bytes. More...

StateSpace::State *	allocateStateInBuffer (void *_buffer) const override
	Create a new state in a pre-allocated buffer. More...

void	freeStateInBuffer (StateSpace::State *_state) const override
	Free a state previously created by `allocateStateInBuffer`. More...

void	compose (const StateSpace::State _state1, const StateSpace::State _state2, StateSpace::State *_out) const override
	Lie group operation for this StateSpace. More...

void	getIdentity (StateSpace::State *_out) const override
	Gets the identity element for this Lie group, such that: More...

void	getInverse (const StateSpace::State _in, StateSpace::State _out) const override
	Gets the inverse of `_in` in this Lie group, such that: More...

std::size_t	getDimension () const override
	Get the dimension of this Lie group. More...

void	copyState (const StateSpace::State _source, StateSpace::State _destination) const override
	Copy a state. More...

void	expMap (const Eigen::VectorXd &_tangent, StateSpace::State *_out) const override
	Exponential mapping of Lie algebra element to a Lie group element. More...

void	logMap (const StateSpace::State *_in, Eigen::VectorXd &_tangent) const override
	Log mapping of Lie group element to a Lie algebra element. More...

void	print (const StateSpace::State *_state, std::ostream &_os) const override
	Print the quaternion represented by the state. More...

virtual void	compose (const State _state1, const State _state2, State *_out) const=0
	Lie group operation for this StateSpace. More...

virtual void	compose (State _state1, const State _state2) const
	Lie group operation for this StateSpace. More...

Public Member Functions inherited from aikido::statespace::StateSpace
virtual	~StateSpace ()=default

ScopedState	createState () const
	Helper function to create a `ScopedState`. More...

ScopedState	cloneState (const State *stateIn) const
	Creates an identical clone of `stateIn`. More...

virtual State *	allocateState () const
	Allocate a new state. More...

virtual void	freeState (State *_state) const
	Free a state previously created by `allocateState`. More...

virtual void	compose (State _state1, const State _state2) const
	Lie group operation for this StateSpace. More...

virtual void	getInverse (State *_state) const
	Gets the inverse of `_in` in this Lie group. More...

Public Member Functions inherited from aikido::statespace::dart::JointStateSpace
	JointStateSpace (const ::dart::dynamics::Joint *joint)
	Constructs a state space for `joint`. More...

virtual	~JointStateSpace ()=default
	Destructor. More...

const Properties &	getProperties () const
	Gets the joint properties associated with this state space. More...

bool	isCompatible (const ::dart::dynamics::Joint *joint) const
	Returns whether the Joint can be used with this state space. More...

void	checkCompatibility (const ::dart::dynamics::Joint *joint) const
	Throws an error if the Joint cannot be used with this state space. More...

virtual void	getState (const ::dart::dynamics::Joint joint, StateSpace::State state) const
	Gets the positions of the `joint` and store them in `state`. More...

virtual void	setState (::dart::dynamics::Joint joint, const StateSpace::State state) const
	Sets the positions of the `joint` to `state`. More...

Additional Inherited Members
Public Types inherited from aikido::statespace::SO3
using	StateHandle = SO3StateHandle< State >

using	StateHandleConst = SO3StateHandle< const State >

using	ScopedState = statespace::ScopedState< StateHandle >

using	ScopedStateConst = statespace::ScopedState< StateHandleConst >

using	Quaternion = State::Quaternion

Public Types inherited from aikido::statespace::StateSpace
using	StateHandle = statespace::StateHandle< StateSpace, State >

using	StateHandleConst = statespace::StateHandle< StateSpace, const State >

using	ScopedState = statespace::ScopedState< StateHandle >

using	ScopedStateConst = statespace::ScopedState< StateHandleConst >

Protected Attributes inherited from aikido::statespace::dart::JointStateSpace
Properties	mProperties

Detailed Description

SO3 for a DART BallJoint.

This class does not support position limits.

Constructor & Destructor Documentation

◆ SO3Joint()

aikido::statespace::dart::SO3Joint::SO3Joint ( const ::dart::dynamics::BallJoint * joint )

explicit

Creates a state space for a BallJoint.

This class does not support position limits.

Parameters

joint joint to create a state space for

Member Function Documentation

◆ convertPositionsToState()

void aikido::statespace::dart::SO3Joint::convertPositionsToState	(	const Eigen::VectorXd &	positions,
		StateSpace::State *	state
	)		const

overridevirtual

Converts DART Joint positions, e.g.

those returned by getPositions, to a State in this state space.

Parameters

	positions	input DART `Joint` positions
[out]	state	output state

Implements aikido::statespace::dart::JointStateSpace.

◆ convertStateToPositions()

void aikido::statespace::dart::SO3Joint::convertStateToPositions	(	const StateSpace::State *	state,
		Eigen::VectorXd &	positions
	)		const

overridevirtual

Converts a State in this state space to DART Joint positions, e.g.

that may be passed to setPositions.

Parameters

	state	input state
[out]	positions	output DART `Joint` positions

Implements aikido::statespace::dart::JointStateSpace.

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SO3Joint()

Member Function Documentation

◆ convertPositionsToState()

◆ convertStateToPositions()