aikido::planner::dart::PlannerAdapter< DelegatePlanner, TargetPlanner, DelegateIsDartPlanner > Class Template Reference

Adapts a DelegatePlanner to solve the single problem that TargetPlanner can solve. More...

#include <aikido/planner/dart/PlannerAdapter.hpp>

Inheritance diagram for aikido::planner::dart::PlannerAdapter< DelegatePlanner, TargetPlanner, DelegateIsDartPlanner >:

Public Member Functions
	PlannerAdapter (std::shared_ptr< DelegatePlanner > planner, ::dart::dynamics::MetaSkeletonPtr metaSkeleton)
	Constructor to adapt non-DART planners. More...
virtual	~PlannerAdapter ()=default
	Default destructor. More...

Protected Attributes
std::shared_ptr< DelegatePlanner >	mDelegate
	Internal planner to delegate planning calls. More...

Detailed Description

template<typename DelegatePlanner, typename TargetPlanner, typename DelegateIsDartPlanner = void>
class aikido::planner::dart::PlannerAdapter< DelegatePlanner, TargetPlanner, DelegateIsDartPlanner >

Adapts a DelegatePlanner to solve the single problem that TargetPlanner can solve.

Template Parameters

DelegatePlanner	type of SingleProblemPlanner to delegate to
TargetPlanner	type of dart::SingleProblemPlanner to implement

Constructor & Destructor Documentation

PlannerAdapter()

template<typename DelegatePlanner , typename TargetPlanner , typename DelegateIsDartPlanner >

aikido::planner::dart::PlannerAdapter< DelegatePlanner, TargetPlanner, DelegateIsDartPlanner >::PlannerAdapter ( std::shared_ptr< DelegatePlanner >  planner, ::dart::dynamics::MetaSkeletonPtr  metaSkeleton  )

explicit

Constructor to adapt non-DART planners.

Parameters

[in]	planner	Delegate planner to use internally.
[in]	metaSkeleton	MetaSkeleton to use for planning.

~PlannerAdapter()

template<typename DelegatePlanner , typename TargetPlanner , typename DelegateIsDartPlanner = void>

virtual aikido::planner::dart::PlannerAdapter< DelegatePlanner, TargetPlanner, DelegateIsDartPlanner >::~PlannerAdapter ( )

virtualdefault

Default destructor.

Member Data Documentation

mDelegate

template<typename DelegatePlanner , typename TargetPlanner , typename DelegateIsDartPlanner = void>

std::shared_ptr<DelegatePlanner> aikido::planner::dart::PlannerAdapter< DelegatePlanner, TargetPlanner, DelegateIsDartPlanner >::mDelegate

protected

Internal planner to delegate planning calls.