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

#include <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`.

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

void	compose (const StateSpace::State _state1, const StateSpace::State _state2, StateSpace::State *_out) const override

void	getIdentity (StateSpace::State *_out) const override

void	getInverse (const StateSpace::State _in, StateSpace::State _out) const override

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].

Public Member Functions inherited from aikido::statespace::StateSpace
ScopedState	createState () const
	Helper function to create a `ScopedState`. More...

ScopedState	cloneState (const State *stateIn) const
	Creates an identical clone of `stateIn`.

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	freeStateInBuffer (State *_state) const =0
	Free a state previously created by `allocateStateInBuffer`. 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...

virtual void	getIdentity (State *_out) const =0
	Gets the identity element for this Lie group, such that: More...

virtual void	getInverse (const State _state, State _out) const =0
	Gets the inverse of `_in` in this Lie group, such that: More...

virtual void	getInverse (State *_state) const
	Gets the inverse of `_in` in this Lie group. More...

virtual void	expMap (const Eigen::VectorXd &_tangent, State *_out) const =0
	Exponential mapping of Lie algebra element to a Lie group element. More...

virtual void	logMap (const State *_in, Eigen::VectorXd &_tangent) const =0
	Log mapping of Lie group element to a Lie algebra element. More...

virtual void	print (const State *_state, std::ostream &_os) const =0
	Print the state to the output stream. 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.

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.

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.

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.

The documentation for this class was generated from the following files:

include/aikido/statespace/dart/RnJoint.hpp
include/aikido/statespace/dart/detail/RnJoint-impl.hpp

Public Types

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

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

Constructor & Destructor Documentation

§ RJoint()

Member Function Documentation

§ convertPositionsToState()

§ convertStateToPositions()

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