aikido::statespace::dart Namespace Reference

Namespaces
	detail

Classes
class	JointStateSpace
	StateSpace of a DART Joint. More...
class	MetaSkeletonStateSaver
	RAII class to save and restore a MetaSkeleton's state. More...
class	MetaSkeletonStateSpace
	StateSpace of a DART MetaSkeleton. More...
class	RJoint
	Rn for an arbitrary type of DART Joint with an arbitrary number of DegreeOfFreedoms. More...
class	SE2Joint
	SEStateSpace for a DART PlanarJoint This class does not support position limits on the rotational DegreeOfFreedom. More...
class	SE3Joint
	SE3 for a DART FreeJoint. More...
class	SO2Joint
	SO2 for a DART SingleDofJoint. More...
class	SO3Joint
	SO3 for a DART BallJoint. More...
class	WeldJoint
	Weld for DART WeldJoint. More...

Typedefs
using	MetaSkeletonStateSpacePtr = std::shared_ptr< MetaSkeletonStateSpace >
using	ConstMetaSkeletonStateSpacePtr = std::shared_ptr< const MetaSkeletonStateSpace >
using	WeakMetaSkeletonStateSpacePtr = std::weak_ptr< MetaSkeletonStateSpace >
using	WeakConstMetaSkeletonStateSpacePtr = std::weak_ptr< const MetaSkeletonStateSpace >
using	UniqueMetaSkeletonStateSpacePtr = std::unique_ptr< MetaSkeletonStateSpace >
using	UniqueConstMetaSkeletonStateSpacePtr = std::unique_ptr< const MetaSkeletonStateSpace >
using	R0Joint = RJoint< 0 >
using	R1Joint = RJoint< 1 >
using	R2Joint = RJoint< 2 >
using	R3Joint = RJoint< 3 >
using	R6Joint = RJoint< 6 >

Functions
template<class JointType >
std::unique_ptr< JointStateSpace >	createJointStateSpaceFor (JointType *joint)
	Create a JointStateSpace for a Joint whose type is known at compile time. More...
std::unique_ptr< JointStateSpace >	createJointStateSpace (const ::dart::dynamics::Joint *joint)
	Create a JointStateSpace for an aribtrary Joint. More...

Typedef Documentation

ConstMetaSkeletonStateSpacePtr

using aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr = typedef std::shared_ptr< const MetaSkeletonStateSpace >

MetaSkeletonStateSpacePtr

using aikido::statespace::dart::MetaSkeletonStateSpacePtr = typedef std::shared_ptr< MetaSkeletonStateSpace >

R0Joint

using aikido::statespace::dart::R0Joint = typedef RJoint<0>

R1Joint

using aikido::statespace::dart::R1Joint = typedef RJoint<1>

R2Joint

using aikido::statespace::dart::R2Joint = typedef RJoint<2>

R3Joint

using aikido::statespace::dart::R3Joint = typedef RJoint<3>

R6Joint

using aikido::statespace::dart::R6Joint = typedef RJoint<6>

UniqueConstMetaSkeletonStateSpacePtr

using aikido::statespace::dart::UniqueConstMetaSkeletonStateSpacePtr = typedef std::unique_ptr< const MetaSkeletonStateSpace >

UniqueMetaSkeletonStateSpacePtr

using aikido::statespace::dart::UniqueMetaSkeletonStateSpacePtr = typedef std::unique_ptr< MetaSkeletonStateSpace >

WeakConstMetaSkeletonStateSpacePtr

using aikido::statespace::dart::WeakConstMetaSkeletonStateSpacePtr = typedef std::weak_ptr< const MetaSkeletonStateSpace >

WeakMetaSkeletonStateSpacePtr

using aikido::statespace::dart::WeakMetaSkeletonStateSpacePtr = typedef std::weak_ptr< MetaSkeletonStateSpace >

Function Documentation

createJointStateSpace()

std::unique_ptr<JointStateSpace> aikido::statespace::dart::createJointStateSpace

(

const ::dart::dynamics::Joint *

joint

)

Create a JointStateSpace for an aribtrary Joint.

This may be significantly slower than createJointStateSpaceFor(), so only use this function if the Joint's type is not known at compile time.

Parameters

joint

joint to create a state space for

Returns

state space of joint

createJointStateSpaceFor()

template<class JointType >

std::unique_ptr< JointStateSpace > aikido::statespace::dart::createJointStateSpaceFor

(

JointType *

joint

)

Create a JointStateSpace for a Joint whose type is known at compile time.

Template Parameters

JointType

joint type

Parameters

joint

joint to create a state space for

Returns

state space of joint