aikido::constraint::TestableIntersection Class Reference

A testable constraint grouping a set of testable constraint. More...

#include <aikido/constraint/TestableIntersection.hpp>

Inheritance diagram for aikido::constraint::TestableIntersection:

Public Member Functions
	TestableIntersection (statespace::ConstStateSpacePtr _stateSpace, std::vector< ConstTestablePtr > _constraints=std::vector< ConstTestablePtr >())
	Construct a TestableIntersection on a specific StateSpace. More...
bool	isSatisfied (const aikido::statespace::StateSpace::State *state, TestableOutcome *outcome=nullptr) const override
	Returns true if state satisfies this constraint. More...
std::unique_ptr< TestableOutcome >	createOutcome () const override
	Return an instance of DefaultTestableOutcome, since this class doesn't have a more specialized TestableOutcome derivative assigned to it. More...
statespace::ConstStateSpacePtr	getStateSpace () const override
	Returns StateSpace in which this constraint operates. More...
void	addConstraint (ConstTestablePtr constraint)
	Add a Testable to the conjunction. More...
Public Member Functions inherited from aikido::constraint::Testable
virtual	~Testable ()=default

Private Member Functions
void	testConstraintStateSpaceOrThrow (const ConstTestablePtr &constraint)

Private Attributes
statespace::ConstStateSpacePtr	mStateSpace
std::vector< ConstTestablePtr >	mConstraints

Detailed Description

A testable constraint grouping a set of testable constraint.

This constriant is satisfied only if all constraints in the set are satisfied.

Constructor & Destructor Documentation

TestableIntersection()

aikido::constraint::TestableIntersection::TestableIntersection	(	statespace::ConstStateSpacePtr	_stateSpace,
		std::vector< ConstTestablePtr >	_constraints = std::vector< ConstTestablePtr >()
	)

Construct a TestableIntersection on a specific StateSpace.

Parameters

_stateSpace	StateSpace this constraint operates in.
_constraints	Set of constraints.

Member Function Documentation

addConstraint()

void aikido::constraint::TestableIntersection::addConstraint

(

ConstTestablePtr

constraint

)

Add a Testable to the conjunction.

Parameters

constraint

a constraint in the same StateSpace as the TestableIntersection was initialize with.

createOutcome()

std::unique_ptr<TestableOutcome> aikido::constraint::TestableIntersection::createOutcome ( ) const

overridevirtual

Return an instance of DefaultTestableOutcome, since this class doesn't have a more specialized TestableOutcome derivative assigned to it.

Implements aikido::constraint::Testable.

getStateSpace()

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

overridevirtual

Returns StateSpace in which this constraint operates.

Implements aikido::constraint::Testable.

isSatisfied()

bool aikido::constraint::TestableIntersection::isSatisfied ( const aikido::statespace::StateSpace::State *  _state, TestableOutcome *  outcome = nullptr  ) const

overridevirtual

Returns true if state satisfies this constraint.

Parameters

[in]	_state	given state to test.
[in]	outcome	pointer to TestableOutcome derivative instance that method will populate with useful information. Each derivative class of Testable may expect outcome to be a different derivative class of TestableOutcome (this casting and population is done under the hood). If this argument is missing, it is ignored.

Implements aikido::constraint::Testable.

testConstraintStateSpaceOrThrow()

void aikido::constraint::TestableIntersection::testConstraintStateSpaceOrThrow ( const ConstTestablePtr &  constraint )

private

Member Data Documentation

mConstraints

std::vector<ConstTestablePtr> aikido::constraint::TestableIntersection::mConstraints

private

mStateSpace

statespace::ConstStateSpacePtr aikido::constraint::TestableIntersection::mStateSpace

private