aikido::distance::JointAvoidanceConfigurationRanker Class Reference

Ranks configurations by their distance from joint limits. More...

#include <aikido/distance/JointAvoidanceConfigurationRanker.hpp>

Inheritance diagram for aikido::distance::JointAvoidanceConfigurationRanker:

Public Member Functions
	JointAvoidanceConfigurationRanker (statespace::dart::ConstMetaSkeletonStateSpacePtr metaSkeletonStateSpace, ::dart::dynamics::ConstMetaSkeletonPtr metaSkeleton, std::vector< double > weights=std::vector< double >())
	Constructor. More...
Public Member Functions inherited from aikido::distance::ConfigurationRanker
	ConfigurationRanker (statespace::dart::ConstMetaSkeletonStateSpacePtr metaSkeletonStateSpace, ::dart::dynamics::ConstMetaSkeletonPtr metaSkeleton, std::vector< double > weights=std::vector< double >())
	Constructor. More...
virtual	~ConfigurationRanker ()=default
	Destructor. More...
void	rankConfigurations (std::vector< statespace::dart::MetaSkeletonStateSpace::ScopedState > &configurations) const
	Ranks the vector of configurations in increasing order of costs. More...

Protected Member Functions
void	setupJointLimits ()
	Set limits appropriately to account for infinite limits. More...
double	evaluateConfiguration (const statespace::dart::MetaSkeletonStateSpace::State *solution) const override
	Returns cost as negative of distance from position limits. More...

Protected Attributes
std::vector< std::size_t >	mUnboundedLowerLimitsIndices
	Vector of indices corresponding to unbounded lower position limits. More...
std::vector< std::size_t >	mUnboundedUpperLimitsIndices
	Vector of indices corresponding to unbounded upper position limits. More...
statespace::dart::MetaSkeletonStateSpace::ScopedState	mLowerLimitsState
	(Modified) State corresponding to the lower position limits. More...
statespace::dart::MetaSkeletonStateSpace::ScopedState	mUpperLimitsState
	(Modified) State corresponding to the upper position limits. More...
Protected Attributes inherited from aikido::distance::ConfigurationRanker
statespace::dart::ConstMetaSkeletonStateSpacePtr	mMetaSkeletonStateSpace
	Statespace of the skeleton. More...
::dart::dynamics::ConstMetaSkeletonPtr	mMetaSkeleton
	Metaskeleton of the robot. More...
distance::DistanceMetricPtr	mDistanceMetric
	Distance Metric in this space. More...

Detailed Description

Ranks configurations by their distance from joint limits.

Configurations further away from the limits are ranked higher. Only finite joint limits are considered for distance computation.

Constructor & Destructor Documentation

JointAvoidanceConfigurationRanker()

aikido::distance::JointAvoidanceConfigurationRanker::JointAvoidanceConfigurationRanker	(	statespace::dart::ConstMetaSkeletonStateSpacePtr	metaSkeletonStateSpace,
		::dart::dynamics::ConstMetaSkeletonPtr	metaSkeleton,
		std::vector< double >	weights = std::vector< double >()
	)

Constructor.

Parameters

[in]	metaSkeletonStateSpace	Statespace of the skeleton.
[in]	metaSkeleton	Metaskeleton of the robot.
[in]	weights	Weights over joints to compute distance. Defaults to unit vector.

Member Function Documentation

evaluateConfiguration()

double aikido::distance::JointAvoidanceConfigurationRanker::evaluateConfiguration ( const statespace::dart::MetaSkeletonStateSpace::State *  solution ) const

overrideprotectedvirtual

Returns cost as negative of distance from position limits.

Implements aikido::distance::ConfigurationRanker.

setupJointLimits()

void aikido::distance::JointAvoidanceConfigurationRanker::setupJointLimits ( )

protected

Set limits appropriately to account for infinite limits.

Member Data Documentation

mLowerLimitsState

statespace::dart::MetaSkeletonStateSpace::ScopedState aikido::distance::JointAvoidanceConfigurationRanker::mLowerLimitsState

protected

(Modified) State corresponding to the lower position limits.

The positions at the indices in mUnboundedLowerLimitsIndices are modified to match those in the input state to evaluateConfiguration() to compute the distance from finite lower joint limits only.

mUnboundedLowerLimitsIndices

std::vector<std::size_t> aikido::distance::JointAvoidanceConfigurationRanker::mUnboundedLowerLimitsIndices

protected

Vector of indices corresponding to unbounded lower position limits.

mUnboundedUpperLimitsIndices

std::vector<std::size_t> aikido::distance::JointAvoidanceConfigurationRanker::mUnboundedUpperLimitsIndices

protected

Vector of indices corresponding to unbounded upper position limits.

mUpperLimitsState

statespace::dart::MetaSkeletonStateSpace::ScopedState aikido::distance::JointAvoidanceConfigurationRanker::mUpperLimitsState

protected

(Modified) State corresponding to the upper position limits.

The positions at the indices in mUnboundedUpperLimitsIndices are modified to match those in the input state to evaluateConfiguration() to compute the distance from finite upper joint limits only.