aikido::statespace::dart::RJoint< N > Class Template Reference

Rn for an arbitrary type of DART Joint with an arbitrary number of DegreeOfFreedoms. More...

#include <aikido/statespace/dart/RnJoint.hpp>

Inheritance diagram for aikido::statespace::dart::RJoint< N >:

Public Types
using	VectorNd = typename R< DimensionAtCompileTime >::VectorNd
using	DartJoint = typename detail::RJointTraits< N >::DartJoint
Public Types inherited from aikido::statespace::R< N >
using	VectorNd = Eigen::Matrix< double, N, 1 >
using	StateHandle = RStateHandle< State >
using	StateHandleConst = RStateHandle< const State >
using	ScopedState = statespace::ScopedState< StateHandle >
using	ScopedStateConst = statespace::ScopedState< StateHandleConst >
Public Types inherited from aikido::statespace::StateSpace
using	StateHandle = statespace::StateHandle< StateSpace, State >
using	StateHandleConst = statespace::StateHandle< StateSpace, const State >
using	ScopedState = statespace::ScopedState< StateHandle >
using	ScopedStateConst = statespace::ScopedState< StateHandleConst >

Public Member Functions
	RJoint (const DartJoint *joint)
	Create a real vector state space for _joint. More...
void	convertPositionsToState (const Eigen::VectorXd &positions, StateSpace::State *state) const override
	Converts DART Joint positions, e.g. More...
void	convertStateToPositions (const StateSpace::State *state, Eigen::VectorXd &positions) const override
	Converts a State in this state space to DART Joint positions, e.g. More...
Public Member Functions inherited from aikido::statespace::R< N >
	R ()
	Constructs a N dimensional real vector space only when the dimension is can be known in compile time. More...
	R (int dimension)
	Constructs a dimension dimensional real vector space. More...
ScopedState	createState () const
	Helper function to create a ScopedState. More...
ScopedState	cloneState (const StateSpace::State *stateIn) const
	Creates an identical clone of stateIn. More...
Eigen::Map< const VectorNd >	getValue (const State *_state) const
	Gets the real vector stored in a State. More...
void	setValue (State *_state, const VectorNd &_value) const
	Sets the real vector stored in a State. More...
std::size_t	getStateSizeInBytes () const override
	Gets the size of a State, in bytes. More...
StateSpace::State *	allocateStateInBuffer (void *_buffer) const override
	Create a new state in a pre-allocated buffer. More...
void	freeStateInBuffer (StateSpace::State *_state) const override
	Free a state previously created by allocateStateInBuffer. More...
void	compose (const StateSpace::State *_state1, const StateSpace::State *_state2, StateSpace::State *_out) const override
	Lie group operation for this StateSpace. More...
void	getIdentity (StateSpace::State *_out) const override
	Gets the identity element for this Lie group, such that: More...
void	getInverse (const StateSpace::State *_in, StateSpace::State *_out) const override
	Gets the inverse of _in in this Lie group, such that: More...
std::size_t	getDimension () const override
	Get the dimension of this Lie group. More...
void	copyState (const StateSpace::State *_source, StateSpace::State *_destination) const override
	Copy a state. More...
void	expMap (const Eigen::VectorXd &_tangent, StateSpace::State *_out) const override
	Exponential mapping of Lie algebra element to a Lie group element. More...
void	logMap (const StateSpace::State *_in, Eigen::VectorXd &_tangent) const override
	Log mapping of Lie group element to a Lie algebra element. More...
void	print (const StateSpace::State *_state, std::ostream &_os) const override
	Print the n-dimensional vector represented by the state Format: [x_1, x_2, ..., x_n]. More...
virtual void	compose (const State *_state1, const State *_state2, State *_out) const=0
	Lie group operation for this StateSpace. More...
virtual void	compose (State *_state1, const State *_state2) const
	Lie group operation for this StateSpace. More...
Public Member Functions inherited from aikido::statespace::StateSpace
virtual	~StateSpace ()=default
ScopedState	createState () const
	Helper function to create a ScopedState. More...
ScopedState	cloneState (const State *stateIn) const
	Creates an identical clone of stateIn. More...
virtual State *	allocateState () const
	Allocate a new state. More...
virtual void	freeState (State *_state) const
	Free a state previously created by allocateState. More...
virtual void	compose (State *_state1, const State *_state2) const
	Lie group operation for this StateSpace. More...
virtual void	getInverse (State *_state) const
	Gets the inverse of _in in this Lie group. More...
Public Member Functions inherited from aikido::statespace::dart::JointStateSpace
	JointStateSpace (const ::dart::dynamics::Joint *joint)
	Constructs a state space for joint. More...
virtual	~JointStateSpace ()=default
	Destructor. More...
const Properties &	getProperties () const
	Gets the joint properties associated with this state space. More...
bool	isCompatible (const ::dart::dynamics::Joint *joint) const
	Returns whether the Joint can be used with this state space. More...
void	checkCompatibility (const ::dart::dynamics::Joint *joint) const
	Throws an error if the Joint cannot be used with this state space. More...
virtual void	getState (const ::dart::dynamics::Joint *joint, StateSpace::State *state) const
	Gets the positions of the joint and store them in state. More...
virtual void	setState (::dart::dynamics::Joint *joint, const StateSpace::State *state) const
	Sets the positions of the joint to state. More...

Static Public Attributes
static constexpr int	DimensionAtCompileTime = N
Static Public Attributes inherited from aikido::statespace::R< N >
static constexpr int	DimensionAtCompileTime = N
	Dimension of the space. More...

Additional Inherited Members
Protected Attributes inherited from aikido::statespace::dart::JointStateSpace
Properties	mProperties

Detailed Description

template<int N>
class aikido::statespace::dart::RJoint< N >

Rn for an arbitrary type of DART Joint with an arbitrary number of DegreeOfFreedoms.

This class treats the joint's positions as a real vector space.

This may not be appropriate for all Joint types, e.g. FreeJoint is best modelled as having an SE(3) state space. If you are not sure what type of JointStateSpace to for a Joint you most likely should use the createJointStateSpace helper function.

Member Typedef Documentation

DartJoint

template<int N>

using aikido::statespace::dart::RJoint< N >::DartJoint = typename detail::RJointTraits<N>::DartJoint

VectorNd

template<int N>

using aikido::statespace::dart::RJoint< N >::VectorNd = typename R<DimensionAtCompileTime>::VectorNd

Constructor & Destructor Documentation

RJoint()

template<int N>

aikido::statespace::dart::RJoint< N >::RJoint ( const DartJoint *  joint )

explicit

Create a real vector state space for _joint.

Parameters

joint

joint to create a state space for

Member Function Documentation

convertPositionsToState()

template<int N>

void aikido::statespace::dart::RJoint< N >::convertPositionsToState ( const Eigen::VectorXd &  positions, StateSpace::State *  state  ) const

overridevirtual

Converts DART Joint positions, e.g.

those returned by getPositions, to a State in this state space.

Parameters

	positions	input DART Joint positions
[out]	state	output state

Implements aikido::statespace::dart::JointStateSpace.

convertStateToPositions()

template<int N>

void aikido::statespace::dart::RJoint< N >::convertStateToPositions ( const StateSpace::State *  state, Eigen::VectorXd &  positions  ) const

overridevirtual

Converts a State in this state space to DART Joint positions, e.g.

that may be passed to setPositions.

Parameters

	state	input state
[out]	positions	output DART Joint positions

Implements aikido::statespace::dart::JointStateSpace.

Member Data Documentation

DimensionAtCompileTime

template<int N>

constexpr int aikido::statespace::dart::RJoint< N >::DimensionAtCompileTime = N

staticconstexpr