aikido::planner::dart::SingleProblemPlanner< Derived, ProblemT > Class Template Reference
Base planner class for all DART single problem planners. More...
#include <aikido/planner/dart/SingleProblemPlanner.hpp>
Inheritance diagram for aikido::planner::dart::SingleProblemPlanner< Derived, ProblemT >:
Public Member Functions | |
| SingleProblemPlanner (statespace::dart::ConstMetaSkeletonStateSpacePtr stateSpace, ::dart::dynamics::MetaSkeletonPtr metaSkeleton) | |
| Constructor. More... | |
| statespace::dart::ConstMetaSkeletonStateSpacePtr | getMetaSkeletonStateSpace () const |
| Return this planner's MetaSkeletonStateSpace. More... | |
| ::dart::dynamics::MetaSkeletonPtr | getMetaSkeleton () |
| Return this planner's MetaSkeleton. More... | |
 Public Member Functions inherited from aikido::planner::SingleProblemPlanner< Derived, ProblemT > | |
| SingleProblemPlanner (statespace::ConstStateSpacePtr stateSpace, common::RNG *rng=nullptr) | |
| Constructs from a state space. More... | |
| bool | canSolve (const Problem &problem) const final override |
Returns true if this planner can solve problem. More... | |
| trajectory::TrajectoryPtr | plan (const Problem &problem, Result *result=nullptr) final override |
Solves problem returning the result to result. More... | |
| Public Member Functions inherited from aikido::planner::Planner | |
| Planner (statespace::ConstStateSpacePtr stateSpace, common::RNG *rng=nullptr) | |
| Constructs from a state space. More... | |
| virtual | ~Planner ()=default |
| Default destructor. More... | |
| statespace::ConstStateSpacePtr | getStateSpace () const |
| Returns const state space. More... | |
| common::RNG * | getRng () |
| Returns RNG. More... | |
Protected Attributes | |
| statespace::dart::ConstMetaSkeletonStateSpacePtr | mMetaSkeletonStateSpace |
| Stores stateSpace pointer as a ConstMetaSkeletonStateSpacePtr. More... | |
| ::dart::dynamics::MetaSkeletonPtr | mMetaSkeleton |
| MetaSkeleton to use for planning. More... | |
| Protected Attributes inherited from aikido::planner::Planner | |
| statespace::ConstStateSpacePtr | mStateSpace |
| State space associated with this planner. More... | |
| std::unique_ptr< common::RNG > | mRng |
| RNG the planner uses. More... | |
Additional Inherited Members | |
| Public Types inherited from aikido::planner::SingleProblemPlanner< Derived, ProblemT > | |
| using | SolvableProblem = ProblemT |
Detailed Description
template<typename Derived, typename ProblemT>
class aikido::planner::dart::SingleProblemPlanner< Derived, ProblemT >
Base planner class for all DART single problem planners.
Avoids copying MetaSkeleton related code a bunch of times.
Constructor & Destructor Documentation
◆ SingleProblemPlanner()
template<typename Derived , typename ProblemT >
| aikido::planner::dart::SingleProblemPlanner< Derived, ProblemT >::SingleProblemPlanner | ( | statespace::dart::ConstMetaSkeletonStateSpacePtr | stateSpace, |
| ::dart::dynamics::MetaSkeletonPtr | metaSkeleton | ||
| ) |
Constructor.
- Parameters
-
[in] stateSpace State space that this planner associated with. [in] metaSkeleton MetaSkeleton to use for planning.
Member Function Documentation
◆ getMetaSkeleton()
template<typename Derived , typename ProblemT >
| dart::dynamics::MetaSkeletonPtr aikido::planner::dart::SingleProblemPlanner< Derived, ProblemT >::getMetaSkeleton |
Return this planner's MetaSkeleton.
◆ getMetaSkeletonStateSpace()
template<typename Derived , typename ProblemT >
| statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::planner::dart::SingleProblemPlanner< Derived, ProblemT >::getMetaSkeletonStateSpace |
Return this planner's MetaSkeletonStateSpace.
Member Data Documentation
◆ mMetaSkeleton
template<typename Derived , typename ProblemT >
|
protected |
MetaSkeleton to use for planning.
◆ mMetaSkeletonStateSpace
template<typename Derived , typename ProblemT >
|
protected |
Stores stateSpace pointer as a ConstMetaSkeletonStateSpacePtr.
Prevents use of an expensive dynamic cast.
