- Generated on Fri Mar 10 2023 20:07:57 for Aikido by
1.8.17
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Aikido
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Namespaces | |
| detail | |
Classes | |
| class | CollisionFree |
| A testable that uses a collision detector to check whether a metakeleton state (configuration) results in collision between and within specified collision groups. More... | |
| class | CollisionFreeOutcome |
| TestableOutcome derivative class intended as (optional) input to isSatisfied method in CollisionFree class. More... | |
| class | FrameDifferentiable |
| A pose constraint on _jacobianNode's transform w.r.t. More... | |
| class | FramePairDifferentiable |
| A differentiable constraint which constrains relative transform of jacobianNodeTarget w.r.t. More... | |
| class | FrameTestable |
| Transforms a SE(3) Testable into a MetaSkeleton-Testable by performing forward kinematics on a configuration (metaskeleton state) and checking the resulting SE(3) pose of the asked frame. More... | |
| class | InverseKinematicsSampleable |
| Transforms a SE3-Sampleable into a MetaSkeleton-Sampleable that samples a configuration of a metaskeleton. More... | |
| class | TSR |
| TSRs describe end-effector constraint sets as subsets of SE(3). More... | |
Typedefs | |
| using | CollisionFreePtr = std::shared_ptr< CollisionFree > |
| using | ConstCollisionFreePtr = std::shared_ptr< const CollisionFree > |
| using | WeakCollisionFreePtr = std::weak_ptr< CollisionFree > |
| using | WeakConstCollisionFreePtr = std::weak_ptr< const CollisionFree > |
| using | UniqueCollisionFreePtr = std::unique_ptr< CollisionFree > |
| using | UniqueConstCollisionFreePtr = std::unique_ptr< const CollisionFree > |
| using | TSRPtr = std::shared_ptr< TSR > |
| using | ConstTSRPtr = std::shared_ptr< const TSR > |
| using | WeakTSRPtr = std::weak_ptr< TSR > |
| using | WeakConstTSRPtr = std::weak_ptr< const TSR > |
| using | UniqueTSRPtr = std::unique_ptr< TSR > |
| using | UniqueConstTSRPtr = std::unique_ptr< const TSR > |
Functions | |
| template<class Space > | |
| std::unique_ptr< Differentiable > | createDifferentiableBoundsFor (std::shared_ptr< Space > _stateSpace) |
| Create differentiable bounds that can be applied to the given StateSpace. More... | |
| template<class Space > | |
| std::unique_ptr< Projectable > | createProjectableBoundsFor (std::shared_ptr< Space > _stateSpace) |
| Create a Projectable that can be used to project a state from the given StateSpace back within bounds set on the StateSpace. More... | |
| template<class Space > | |
| std::unique_ptr< Testable > | createTestableBoundsFor (std::shared_ptr< Space > _stateSpace) |
| Create a Testable constraint that can be used to determine if a given state lies within bounds set on the StateSpace. More... | |
| template<class Space > | |
| std::unique_ptr< Sampleable > | createSampleableBoundsFor (std::shared_ptr< Space > _stateSpace, std::unique_ptr< common::RNG > _rng) |
| Create a Sampleable constraint that can be used to sample a state that is guarenteed to lie within bounds define on the StateSpace. More... | |
| std::unique_ptr< Differentiable > | createDifferentiableBounds (std::shared_ptr< const statespace::dart::JointStateSpace > _stateSpace) |
| Create differentiable bounds that can be applied to the given StateSpace The differentiable bounds are created from the joint limits set on the dart joint wrapped by the JointStateSpace. More... | |
| std::unique_ptr< Differentiable > | createDifferentiableBounds (statespace::dart::ConstMetaSkeletonStateSpacePtr _metaSkeleton) |
| Create a set of Differentiable constraints for each joint in the MetaSkeleton wrapped by the state space. More... | |
| std::unique_ptr< Projectable > | createProjectableBounds (std::shared_ptr< const statespace::dart::JointStateSpace > _stateSpace) |
| Create a Projectable that can be used to project the value of a joint back within joint limits. More... | |
| std::unique_ptr< Projectable > | createProjectableBounds (statespace::dart::ConstMetaSkeletonStateSpacePtr _metaSkeleton) |
| Create a set of Projectable constraints for each joint in the MetaSkeleton wrapped by the state space. More... | |
| std::unique_ptr< Testable > | createTestableBounds (std::shared_ptr< const statespace::dart::JointStateSpace > _stateSpace) |
| Create a Testable constraint that can be used to determine if the value of a joint is within the joint limits. More... | |
| std::unique_ptr< Testable > | createTestableBounds (statespace::dart::ConstMetaSkeletonStateSpacePtr _metaSkeleton) |
| Create a set of Testable constraints for each joint in the MetaSkeleton wrapped by the state space. More... | |
| std::unique_ptr< Sampleable > | createSampleableBounds (std::shared_ptr< const statespace::dart::JointStateSpace > _stateSpace, std::unique_ptr< common::RNG > _rng) |
| Create a Sampleabe constraint that can be used to sample values for the joint that are guarenteed to be within joint limits. More... | |
| std::unique_ptr< Sampleable > | createSampleableBounds (statespace::dart::ConstMetaSkeletonStateSpacePtr _metaSkeleton, std::unique_ptr< common::RNG > _rng) |
| Create a Sampleable constraint that can be used to sampel values for all joints in a MetaSkeleton. More... | |
| using aikido::constraint::dart::CollisionFreePtr = typedef std::shared_ptr< CollisionFree > |
| using aikido::constraint::dart::ConstCollisionFreePtr = typedef std::shared_ptr< const CollisionFree > |
| using aikido::constraint::dart::ConstTSRPtr = typedef std::shared_ptr< const TSR > |
| using aikido::constraint::dart::TSRPtr = typedef std::shared_ptr< TSR > |
| using aikido::constraint::dart::UniqueCollisionFreePtr = typedef std::unique_ptr< CollisionFree > |
| using aikido::constraint::dart::UniqueConstCollisionFreePtr = typedef std::unique_ptr< const CollisionFree > |
| using aikido::constraint::dart::UniqueConstTSRPtr = typedef std::unique_ptr< const TSR > |
| using aikido::constraint::dart::UniqueTSRPtr = typedef std::unique_ptr< TSR > |
| using aikido::constraint::dart::WeakCollisionFreePtr = typedef std::weak_ptr< CollisionFree > |
| using aikido::constraint::dart::WeakConstCollisionFreePtr = typedef std::weak_ptr< const CollisionFree > |
| using aikido::constraint::dart::WeakConstTSRPtr = typedef std::weak_ptr< const TSR > |
| using aikido::constraint::dart::WeakTSRPtr = typedef std::weak_ptr< TSR > |
| std::unique_ptr<Differentiable> aikido::constraint::dart::createDifferentiableBounds | ( | statespace::dart::ConstMetaSkeletonStateSpacePtr | _metaSkeleton | ) |
Create a set of Differentiable constraints for each joint in the MetaSkeleton wrapped by the state space.
The bounds are created from the joint limits set on the joints of the MetaSkeleton. A no-op Differentiable is created for joints that have no limits.
| _metaSkeleton | The MetaSkeletonStateSpace where the Differentiable will be applied |
| std::unique_ptr<Differentiable> aikido::constraint::dart::createDifferentiableBounds | ( | std::shared_ptr< const statespace::dart::JointStateSpace > | _stateSpace | ) |
Create differentiable bounds that can be applied to the given StateSpace The differentiable bounds are created from the joint limits set on the dart joint wrapped by the JointStateSpace.
If the space has no bounds, a no-op Differtiable is created.
| _stateSpace | The StateSpace where the Differentiable will be applied |
| std::unique_ptr< Differentiable > aikido::constraint::dart::createDifferentiableBoundsFor | ( | std::shared_ptr< Space > | _stateSpace | ) |
Create differentiable bounds that can be applied to the given StateSpace.
| _stateSpace | The StateSpace where the Differentiable will be applied |
| std::unique_ptr<Projectable> aikido::constraint::dart::createProjectableBounds | ( | statespace::dart::ConstMetaSkeletonStateSpacePtr | _metaSkeleton | ) |
Create a set of Projectable constraints for each joint in the MetaSkeleton wrapped by the state space.
The constraints can be used to project a state back within the joint limits set on the MetaSkeleton.
| _metaSkeleton | The MetaSkeletonStateSpace where the Projectable will be applied. |
| std::unique_ptr<Projectable> aikido::constraint::dart::createProjectableBounds | ( | std::shared_ptr< const statespace::dart::JointStateSpace > | _stateSpace | ) |
Create a Projectable that can be used to project the value of a joint back within joint limits.
The Projectable is created from the joint limits set for the joint wrapped by the given JointStateSpace.
| _stateSpace | The JointStateSpace where the Projectable will be applied. |
| std::unique_ptr< Projectable > aikido::constraint::dart::createProjectableBoundsFor | ( | std::shared_ptr< Space > | _stateSpace | ) |
Create a Projectable that can be used to project a state from the given StateSpace back within bounds set on the StateSpace.
| _stateSpace | The StateSpace where the Projectable will be applied. |
| std::unique_ptr<Sampleable> aikido::constraint::dart::createSampleableBounds | ( | statespace::dart::ConstMetaSkeletonStateSpacePtr | _metaSkeleton, |
| std::unique_ptr< common::RNG > | _rng | ||
| ) |
Create a Sampleable constraint that can be used to sampel values for all joints in a MetaSkeleton.
The sampled joint values are guarenteed to lie within joint limits defined on the MetaSkeleton.
| _metaSkeleton | The MetaSkeletonStateSpace where the Sampleable will be applied |
| _rng | The random number generator to be used by the Sampleable |
| std::unique_ptr<Sampleable> aikido::constraint::dart::createSampleableBounds | ( | std::shared_ptr< const statespace::dart::JointStateSpace > | _stateSpace, |
| std::unique_ptr< common::RNG > | _rng | ||
| ) |
Create a Sampleabe constraint that can be used to sample values for the joint that are guarenteed to be within joint limits.
The Sampleable is created from the joint limits set on the joint wrapped by the given JointStateSpace.
| _stateSpace | The JointStateSpace where the Sampleable will be applied |
| _rng | The random number generator to be used by the Sampleable |
| std::unique_ptr< Sampleable > aikido::constraint::dart::createSampleableBoundsFor | ( | std::shared_ptr< Space > | _stateSpace, |
| std::unique_ptr< common::RNG > | _rng | ||
| ) |
Create a Sampleable constraint that can be used to sample a state that is guarenteed to lie within bounds define on the StateSpace.
| _stateSpace | The StateSpace where the Sampleable will be applied. |
| _rng | The random number generator to be used by the Sampleable |
| std::unique_ptr<Testable> aikido::constraint::dart::createTestableBounds | ( | statespace::dart::ConstMetaSkeletonStateSpacePtr | _metaSkeleton | ) |
Create a set of Testable constraints for each joint in the MetaSkeleton wrapped by the state space.
The constraints can be used to determine if a state is within the joint limits defined on all joints of the MetaSkeleton.
| _metaSkeleton | The MetaSkeletonStateSpace where the Testable will be applied. |
| std::unique_ptr<Testable> aikido::constraint::dart::createTestableBounds | ( | std::shared_ptr< const statespace::dart::JointStateSpace > | _stateSpace | ) |
| std::unique_ptr< Testable > aikido::constraint::dart::createTestableBoundsFor | ( | std::shared_ptr< Space > | _stateSpace | ) |
1.8.17