A concrete implementation of a manipulator. More...

#include <aikido/robot/ConcreteManipulator.hpp>

Inheritance diagram for aikido::robot::ConcreteManipulator:

Public Member Functions
	ConcreteManipulator (RobotPtr robot, HandPtr hand)
	Constructor. More...

virtual	~ConcreteManipulator ()=default

virtual ConstHandPtr	getHand () const override
	Returns the [const] hand. More...

virtual std::unique_ptr< aikido::trajectory::Spline >	smoothPath (const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const aikido::trajectory::Trajectory *path, const constraint::TestablePtr &constraint) override
	Returns a timed trajectory that can be executed by the robot. More...

virtual std::unique_ptr< aikido::trajectory::Spline >	retimePath (const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const aikido::trajectory::Trajectory *path) override
	Returns a timed trajectory that can be executed by the robot. More...

virtual std::unique_ptr< aikido::trajectory::Spline >	retimePathWithKunz (const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const aikido::trajectory::Trajectory *path, double maxDeviation, double timestep) override
	Returns a timed trajectory computed with KunzRetimer. More...

virtual std::future< void >	executeTrajectory (const trajectory::TrajectoryPtr &trajectory) const override
	Executes a trajectory. More...

virtual boost::optional< Eigen::VectorXd >	getNamedConfiguration (const std::string &name) const override
	Returns a named configuration. More...

virtual void	setNamedConfigurations (std::unordered_map< std::string, const Eigen::VectorXd > namedConfigurations) override
	Sets the list of named configurations. More...

virtual std::string	getName () const override

virtual dart::dynamics::ConstMetaSkeletonPtr	getMetaSkeleton () const override

virtual aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr	getStateSpace () const override

virtual void	setRoot (Robot *robot) override
	Sets the root of this robot. More...

virtual void	step (const std::chrono::system_clock::time_point &timepoint) override
	Simulates up to the provided timepoint. More...

virtual constraint::dart::CollisionFreePtr	getSelfCollisionConstraint (const statespace::dart::ConstMetaSkeletonStateSpacePtr &space, const dart::dynamics::MetaSkeletonPtr &metaSkeleton) const override
	Returns self-collision constraint. More...

virtual aikido::constraint::TestablePtr	getFullCollisionConstraint (const statespace::dart::ConstMetaSkeletonStateSpacePtr &space, const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const constraint::dart::CollisionFreePtr &collisionFree) const override
	TODO: Consider changing this to return a CollisionFreePtr. More...

trajectory::TrajectoryPtr	planToEndEffectorOffset (const statespace::dart::MetaSkeletonStateSpacePtr &space, const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const dart::dynamics::BodyNodePtr &body, const constraint::dart::CollisionFreePtr &collisionFree, const Eigen::Vector3d &direction, double distance, double timelimit, double positionTolerance, double angularTolerance)
	TODO: Replace this with Problem interface. More...

trajectory::TrajectoryPtr	planEndEffectorStraight (statespace::dart::MetaSkeletonStateSpacePtr &space, const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const dart::dynamics::BodyNodePtr &body, const constraint::dart::CollisionFreePtr &collisionFree, double distance, double timelimit, double positionTolerance, double angularTolerance)
	TODO: Replace this with Problem interface. More...

void	setVectorFieldPlannerParameters (const util::VectorFieldPlannerParameters &vfParameters)
	TODO: This should be revisited once we have Planner API. More...

void	setCRRTPlannerParameters (const util::CRRTPlannerParameters &crrtParameters)
	TODO: This should be revisited once we have Planner API. More...

virtual ConstHandPtr	getHand () const=0
	Returns the [const] hand. More...

HandPtr	getHand ()
	Returns the hand. More...

virtual dart::dynamics::ConstMetaSkeletonPtr	getMetaSkeleton () const=0

dart::dynamics::MetaSkeletonPtr	getMetaSkeleton ()

virtual aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr	getStateSpace () const=0

aikido::statespace::dart::MetaSkeletonStateSpacePtr	getStateSpace ()

Public Member Functions inherited from aikido::robot::Manipulator
virtual	~Manipulator ()=default

HandPtr	getHand ()
	Returns the hand. More...

Public Member Functions inherited from aikido::robot::Robot
virtual	~Robot ()=default

dart::dynamics::MetaSkeletonPtr	getMetaSkeleton ()

aikido::statespace::dart::MetaSkeletonStateSpacePtr	getStateSpace ()

Private Attributes
RobotPtr	mRobot
	The robot whose metaSkeleton corresponds to this manipulator. More...

HandPtr	mHand
	Hand of this manipulator. More...

util::VectorFieldPlannerParameters	mVectorFieldParameters
	VectorFieldPlanenr-related parameters. More...

util::CRRTPlannerParameters	mCRRTParameters
	CRRTPlanner-related parameters. More...

Detailed Description

A concrete implementation of a manipulator.

ConcreteManipulator supports a collection of end-effector specific planning methods.

Constructor & Destructor Documentation

◆ ConcreteManipulator()

aikido::robot::ConcreteManipulator::ConcreteManipulator	(	RobotPtr	robot,
		HandPtr	hand
	)

Constructor.

Parameters

[in]	robot	Robot corresponding to this manipulator.
[in]	hand	Hand of this manipulator.

◆ ~ConcreteManipulator()

virtual aikido::robot::ConcreteManipulator::~ConcreteManipulator ( )

virtualdefault

Member Function Documentation

◆ executeTrajectory()

virtual std::future<void> aikido::robot::ConcreteManipulator::executeTrajectory ( const trajectory::TrajectoryPtr & trajectory ) const

overridevirtual

Executes a trajectory.

Parameters

[in] trajectory Timed trajectory to execute

Implements aikido::robot::Robot.

◆ getFullCollisionConstraint()

virtual aikido::constraint::TestablePtr aikido::robot::ConcreteManipulator::getFullCollisionConstraint	(	const statespace::dart::ConstMetaSkeletonStateSpacePtr &	space,
		const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const constraint::dart::CollisionFreePtr &	collisionFree
	)		const

overridevirtual

TODO: Consider changing this to return a CollisionFreePtr.

Combines provided collision constraint with self collision constraint.

Parameters

[in]	space	Space in which this collision constraint operates.
[in]	metaSkeleton	Metaskeleton for the statespace.
[in]	collisionFree	Collision constraint.

Returns: Combined constraint.

Implements aikido::robot::Robot.

◆ getHand() [1/3]

HandPtr aikido::robot::Manipulator::getHand

Returns the hand.

◆ getHand() [2/3]

virtual ConstHandPtr aikido::robot::ConcreteManipulator::getHand ( ) const

overridevirtual

Returns the [const] hand.

Implements aikido::robot::Manipulator.

◆ getHand() [3/3]

virtual ConstHandPtr aikido::robot::Manipulator::getHand

Returns the [const] hand.

◆ getMetaSkeleton() [1/3]

dart::dynamics::MetaSkeletonPtr aikido::robot::Robot::getMetaSkeleton

Returns: MetaSkeleton of this robot.

◆ getMetaSkeleton() [2/3]

virtual dart::dynamics::ConstMetaSkeletonPtr aikido::robot::ConcreteManipulator::getMetaSkeleton ( ) const

overridevirtual

Returns: [const] MetaSkeleton of this robot.

Implements aikido::robot::Robot.

◆ getMetaSkeleton() [3/3]

virtual dart::dynamics::ConstMetaSkeletonPtr aikido::robot::Robot::getMetaSkeleton

Returns: [const] MetaSkeleton of this robot.

◆ getName()

virtual std::string aikido::robot::ConcreteManipulator::getName ( ) const

overridevirtual

Returns: Name of this Robot

Implements aikido::robot::Robot.

◆ getNamedConfiguration()

virtual boost::optional<Eigen::VectorXd> aikido::robot::ConcreteManipulator::getNamedConfiguration ( const std::string & name ) const

overridevirtual

Returns a named configuration.

Parameters

[in] name Name of the configuration

Returns: Configuration

Implements aikido::robot::Robot.

◆ getSelfCollisionConstraint()

virtual constraint::dart::CollisionFreePtr aikido::robot::ConcreteManipulator::getSelfCollisionConstraint	(	const statespace::dart::ConstMetaSkeletonStateSpacePtr &	space,
		const dart::dynamics::MetaSkeletonPtr &	metaSkeleton
	)		const

overridevirtual

Returns self-collision constraint.

Parameters

[in]	space	Space in which this collision constraint operates.
[in]	metaSkeleton	Metaskeleton for the statespace.

Implements aikido::robot::Robot.

◆ getStateSpace() [1/3]

aikido::statespace::dart::MetaSkeletonStateSpacePtr aikido::robot::Robot::getStateSpace

Returns: MetaSkeletonStateSpace of this robot.

◆ getStateSpace() [2/3]

virtual aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::robot::ConcreteManipulator::getStateSpace ( ) const

overridevirtual

Returns: [const] MetaSkeletonStateSpace of this robot.

Implements aikido::robot::Robot.

◆ getStateSpace() [3/3]

virtual aikido::statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::robot::Robot::getStateSpace

Returns: [const] MetaSkeletonStateSpace of this robot.

◆ planEndEffectorStraight()

trajectory::TrajectoryPtr aikido::robot::ConcreteManipulator::planEndEffectorStraight	(	statespace::dart::MetaSkeletonStateSpacePtr &	space,
		const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const dart::dynamics::BodyNodePtr &	body,
		const constraint::dart::CollisionFreePtr &	collisionFree,
		double	distance,
		double	timelimit,
		double	positionTolerance,
		double	angularTolerance
	)

TODO: Replace this with Problem interface.

Plans to a desired end-effector offset along the z axis of the end-effector.

Parameters

[in]	space	The StateSpace for the metaskeleton.
[in]	metaSkeleton	Metaskeleton to plan with.
[in]	body	Bodynode for the end-effector.
[in]	collisionFree	CollisionFree constraint to check. Self-collision is checked by default.
[in]	distance	Distance distance to move, in meters.
[in]	timelimit	Timelimit for plannnig.
[in]	positionTolerance	Constraint tolerance in meters.
[in]	angularTolerance	Constraint tolerance in radians.

Returns: Output trajectory

◆ planToEndEffectorOffset()

trajectory::TrajectoryPtr aikido::robot::ConcreteManipulator::planToEndEffectorOffset	(	const statespace::dart::MetaSkeletonStateSpacePtr &	space,
		const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const dart::dynamics::BodyNodePtr &	body,
		const constraint::dart::CollisionFreePtr &	collisionFree,
		const Eigen::Vector3d &	direction,
		double	distance,
		double	timelimit,
		double	positionTolerance,
		double	angularTolerance
	)

TODO: Replace this with Problem interface.

Plans to a desired end-effector offset with fixed orientation.

Parameters

[in]	space	The StateSpace for the metaskeleton.
[in]	metaSkeleton	Metaskeleton to plan with.
[in]	body	Bodynode for the end-effector.
[in]	collisionFree	CollisionFree constraint to check. Self-collision is checked by default.
[in]	direction	Direction unit vector in the world frame.
[in]	distance	Distance distance to move, in meters.
[in]	timelimit	Timelimit for planning.
[in]	positionTolerance	Constraint tolerance in meters.
[in]	angularTolerance	Constraint tolerance in radians.

Returns: Output trajectory

◆ retimePath()

virtual std::unique_ptr<aikido::trajectory::Spline> aikido::robot::ConcreteManipulator::retimePath	(	const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const aikido::trajectory::Trajectory *	path
	)

overridevirtual

Returns a timed trajectory that can be executed by the robot.

Parameters

[in]	metaSkeleton	Metaskeleton of the path.
[in]	path	Geometric path to execute.

Implements aikido::robot::Robot.

◆ retimePathWithKunz()

virtual std::unique_ptr<aikido::trajectory::Spline> aikido::robot::ConcreteManipulator::retimePathWithKunz	(	const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const aikido::trajectory::Trajectory *	path,
		double	maxDeviation,
		double	timestep
	)

overridevirtual

Returns a timed trajectory computed with KunzRetimer.

Parameters

[in]	metaSkeleton	Metaskeleton of the path.
[in]	path	Geometric path to execute.
[in]	maxDeviation	Maximum deviation allowed from original path.
[in]	timestep	Time step between trajectory points.

Implements aikido::robot::Robot.

◆ setCRRTPlannerParameters()

void aikido::robot::ConcreteManipulator::setCRRTPlannerParameters ( const util::CRRTPlannerParameters & crrtParameters )

TODO: This should be revisited once we have Planner API.

Sets CRRTPlanner parameters.

Parameters

[in] crrtParameters CRRT planner parameters

◆ setNamedConfigurations()

virtual void aikido::robot::ConcreteManipulator::setNamedConfigurations ( std::unordered_map< std::string, const Eigen::VectorXd > namedConfigurations )

overridevirtual

Sets the list of named configurations.

Parameters

[in] namedConfigurations Map of name, configuration

Implements aikido::robot::Robot.

◆ setRoot()

virtual void aikido::robot::ConcreteManipulator::setRoot ( Robot * robot )

overridevirtual

Sets the root of this robot.

Parameters

[in] robot Parent robot

Implements aikido::robot::Robot.

◆ setVectorFieldPlannerParameters()

void aikido::robot::ConcreteManipulator::setVectorFieldPlannerParameters ( const util::VectorFieldPlannerParameters & vfParameters )

TODO: This should be revisited once we have Planner API.

Sets VectorFieldPlanner parameters.

Parameters

[in] vfParameters VectorField Parameters

◆ smoothPath()

virtual std::unique_ptr<aikido::trajectory::Spline> aikido::robot::ConcreteManipulator::smoothPath	(	const dart::dynamics::MetaSkeletonPtr &	metaSkeleton,
		const aikido::trajectory::Trajectory *	path,
		const constraint::TestablePtr &	constraint
	)

overridevirtual

Returns a timed trajectory that can be executed by the robot.

Parameters

[in]	metaSkeleton	Metaskeleton of the path.
[in]	path	Geometric path to execute.
[in]	constraint	Must be satisfied after postprocessing. Typically collision constraint is passed.

Implements aikido::robot::Robot.

◆ step()

virtual void aikido::robot::ConcreteManipulator::step ( const std::chrono::system_clock::time_point & timepoint )

overridevirtual

Simulates up to the provided timepoint.

Note: Assumes that the robot's skeleton is locked.

Parameters

[in] timepoint Time to simulate to.

Implements aikido::robot::Robot.

Member Data Documentation

◆ mCRRTParameters

util::CRRTPlannerParameters aikido::robot::ConcreteManipulator::mCRRTParameters

private

CRRTPlanner-related parameters.

◆ mHand

HandPtr aikido::robot::ConcreteManipulator::mHand

private

Hand of this manipulator.

◆ mRobot

RobotPtr aikido::robot::ConcreteManipulator::mRobot

private

The robot whose metaSkeleton corresponds to this manipulator.

◆ mVectorFieldParameters

util::VectorFieldPlannerParameters aikido::robot::ConcreteManipulator::mVectorFieldParameters

private

VectorFieldPlanenr-related parameters.

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ConcreteManipulator()

◆ ~ConcreteManipulator()

Member Function Documentation

◆ executeTrajectory()

◆ getFullCollisionConstraint()

◆ getHand() [1/3]

◆ getHand() [2/3]

◆ getHand() [3/3]

◆ getMetaSkeleton() [1/3]

◆ getMetaSkeleton() [2/3]

◆ getMetaSkeleton() [3/3]

◆ getName()

◆ getNamedConfiguration()

◆ getSelfCollisionConstraint()

◆ getStateSpace() [1/3]

◆ getStateSpace() [2/3]

◆ getStateSpace() [3/3]

◆ planEndEffectorStraight()

◆ planToEndEffectorOffset()

◆ retimePath()

◆ retimePathWithKunz()

◆ setCRRTPlannerParameters()

◆ setNamedConfigurations()

◆ setRoot()

◆ setVectorFieldPlannerParameters()

◆ smoothPath()

◆ step()

Member Data Documentation

◆ mCRRTParameters

◆ mHand

◆ mRobot

◆ mVectorFieldParameters