Constraint that turns a finite sampleable constraint into a cyclic sampleable constraint. More...

#include <aikido/constraint/CyclicSampleable.hpp>

Inheritance diagram for aikido::constraint::CyclicSampleable:

Public Member Functions
	CyclicSampleable (SampleablePtr _sampleable)
	Constructor. More...

statespace::ConstStateSpacePtr	getStateSpace () const override
	Gets the StateSpace that this constraint operates on. More...

std::unique_ptr< SampleGenerator >	createSampleGenerator () const override
	Creates a SampleGenerator for sampling from this constraint. More...

Public Member Functions inherited from aikido::constraint::Sampleable
virtual	~Sampleable ()=default

Private Attributes
SampleablePtr	mSampleable

statespace::ConstStateSpacePtr	mStateSpace

Detailed Description

Constraint that turns a finite sampleable constraint into a cyclic sampleable constraint.

It's generator will generate samples in the same order as the original sampleable constraint, but once the samples are exhausted, it will cycle through the samples, starting from the initial sample. The original sampleable should be finite.

Constructor & Destructor Documentation

◆ CyclicSampleable()

aikido::constraint::CyclicSampleable::CyclicSampleable ( SampleablePtr _sampleable )

explicit

Constructor.

Parameters

_sampleable Sampleable whose samples are to be iterated.

Member Function Documentation

◆ createSampleGenerator()

std::unique_ptr<SampleGenerator> aikido::constraint::CyclicSampleable::createSampleGenerator ( ) const

overridevirtual

Creates a SampleGenerator for sampling from this constraint.

Implements aikido::constraint::Sampleable.

◆ getStateSpace()

statespace::ConstStateSpacePtr aikido::constraint::CyclicSampleable::getStateSpace ( ) const

overridevirtual

Gets the StateSpace that this constraint operates on.

Implements aikido::constraint::Sampleable.

Member Data Documentation

◆ mSampleable

SampleablePtr aikido::constraint::CyclicSampleable::mSampleable

private

◆ mStateSpace

statespace::ConstStateSpacePtr aikido::constraint::CyclicSampleable::mStateSpace