aikido::control::KinematicSimulationTrajectoryExecutor Class Reference

Executes trajectories in DART. More...

#include <aikido/control/KinematicSimulationTrajectoryExecutor.hpp>

Inheritance diagram for aikido::control::KinematicSimulationTrajectoryExecutor:

Public Member Functions
	KinematicSimulationTrajectoryExecutor (::dart::dynamics::SkeletonPtr skeleton)
	Constructor. More...
virtual	~KinematicSimulationTrajectoryExecutor ()
void	validate (const trajectory::Trajectory *traj) override
	Validate the traj in preparation for execution. More...
std::future< void >	execute (const trajectory::ConstTrajectoryPtr &traj) override
	Execute traj and set future upon completion. More...
void	step (const std::chrono::system_clock::time_point &timepoint) override
	Step to a point in time. More...
void	cancel () override
	Cancels the current trajectory. More...
Public Member Functions inherited from aikido::control::TrajectoryExecutor
virtual	~TrajectoryExecutor ()=default

Private Attributes
::dart::dynamics::SkeletonPtr	mSkeleton
	Skeleton to execute trajectories on. More...
trajectory::ConstTrajectoryPtr	mTraj
	Trajectory being executed. More...
statespace::dart::ConstMetaSkeletonStateSpacePtr	mStateSpace
	Trajectory's MetaSkeletonStateSpace. More...
::dart::dynamics::MetaSkeletonPtr	mMetaSkeleton
	The controlled subset of mSkeleton for the currently executing trajectory. More...
bool	mInProgress
	Whether a trajectory is being executed. More...
std::unique_ptr< std::promise< void > >	mPromise
	Promise whose future is returned by execute() More...
std::mutex	mMutex
	Manages access to mTraj, mInProgress, mPromise. More...

Additional Inherited Members
Protected Attributes inherited from aikido::control::TrajectoryExecutor
std::set< const trajectory::Trajectory * >	mValidatedTrajectories
	Set of trajectories validated by executor. More...
std::chrono::system_clock::time_point	mExecutionStartTime
	Time of previous call. More...

Detailed Description

Executes trajectories in DART.

This simulates trajectories by setting interpolated DOF positions, without running dynamic simulation.

Constructor & Destructor Documentation

KinematicSimulationTrajectoryExecutor()

aikido::control::KinematicSimulationTrajectoryExecutor::KinematicSimulationTrajectoryExecutor ( ::dart::dynamics::SkeletonPtr  skeleton )

explicit

Constructor.

Parameters

skeleton

Skeleton to execute trajectories on. All trajectories must have dofs only in this skeleton.

~KinematicSimulationTrajectoryExecutor()

virtual aikido::control::KinematicSimulationTrajectoryExecutor::~KinematicSimulationTrajectoryExecutor ( )

virtual

Member Function Documentation

cancel()

void aikido::control::KinematicSimulationTrajectoryExecutor::cancel ( )

overridevirtual

Cancels the current trajectory.

Implements aikido::control::TrajectoryExecutor.

execute()

std::future<void> aikido::control::KinematicSimulationTrajectoryExecutor::execute ( const trajectory::ConstTrajectoryPtr &  traj )

overridevirtual

Execute traj and set future upon completion.

Parameters

traj	Trajectory to be executed. Its StateSpace should be a MetaSkeletonStateSpace, where the dofs are all in the skeleton passed to this constructor.

Returns

future<void> for trajectory execution. If trajectory terminates before completion, future will be set to a runtime_error.

Exceptions

invalid_argument

if traj is invalid.

Implements aikido::control::TrajectoryExecutor.

step()

void aikido::control::KinematicSimulationTrajectoryExecutor::step ( const std::chrono::system_clock::time_point &  timepoint )

overridevirtual

Step to a point in time.

Note

timepoint can be a time in the future to enable faster than real-time execution.

Parameters

timepoint

Time to simulate to

If multiple threads are accessing this function or the skeleton associated with this executor, it is necessary to lock the skeleton before calling this method.

Implements aikido::control::TrajectoryExecutor.

validate()

void aikido::control::KinematicSimulationTrajectoryExecutor::validate ( const trajectory::Trajectory *  traj )

overridevirtual

Validate the traj in preparation for execution.

Parameters

traj	Trajectory to be validated

Implements aikido::control::TrajectoryExecutor.

Member Data Documentation

mInProgress

bool aikido::control::KinematicSimulationTrajectoryExecutor::mInProgress

private

Whether a trajectory is being executed.

mMetaSkeleton

::dart::dynamics::MetaSkeletonPtr aikido::control::KinematicSimulationTrajectoryExecutor::mMetaSkeleton

private

The controlled subset of mSkeleton for the currently executing trajectory.

mMutex

std::mutex aikido::control::KinematicSimulationTrajectoryExecutor::mMutex

mutableprivate

Manages access to mTraj, mInProgress, mPromise.

mPromise

std::unique_ptr<std::promise<void> > aikido::control::KinematicSimulationTrajectoryExecutor::mPromise

private

Promise whose future is returned by execute()

mSkeleton

::dart::dynamics::SkeletonPtr aikido::control::KinematicSimulationTrajectoryExecutor::mSkeleton

private

Skeleton to execute trajectories on.

mStateSpace

statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::control::KinematicSimulationTrajectoryExecutor::mStateSpace

private

Trajectory's MetaSkeletonStateSpace.

mTraj

trajectory::ConstTrajectoryPtr aikido::control::KinematicSimulationTrajectoryExecutor::mTraj

private

Trajectory being executed.