robowflex::darts::ConstraintExtractor Class Reference

Helper class to manage extracting states from a possibly constrained state space. More...

#include <planning.h>

Inheritance diagram for robowflex::darts::ConstraintExtractor:

Public Member Functions
	ConstraintExtractor ()=default
	Constructor. More...
	ConstraintExtractor (const ompl::base::SpaceInformationPtr &si)
	Constructor. More...
const StateSpace *	getSpace () const
	Gets the underlying state space from the space information. More...
void	setSpaceInformation (const ompl::base::SpaceInformationPtr &si)
	Set space information used for constraint extraction. More...
State Access
StateSpace::StateType *	toState (ompl::base::State *state) const
	Extract underlying state from a base state. More...
const StateSpace::StateType *	toStateConst (const ompl::base::State *state) const
	Extract underlying state from a base state. More...
StateSpace::StateType *	fromConstrainedState (ompl::base::State *state) const
	Access the underlying state from a constrained OMPL state. More...
const StateSpace::StateType *	fromConstrainedStateConst (const ompl::base::State *state) const
	Access the underlying state from a constrained OMPL state. More...
StateSpace::StateType *	fromUnconstrainedState (ompl::base::State *state) const
	Access the underlying state from an unconstrained OMPL state. More...
const StateSpace::StateType *	fromUnconstrainedStateConst (const ompl::base::State *state) const
	Access the underlying state from an unconstrained OMPL state. More...

Private Attributes
ompl::base::SpaceInformationPtr	space_info_
	Space Information. More...
bool	is_constrained_ {false}
	Is the underlying space constrained? More...

Detailed Description

Helper class to manage extracting states from a possibly constrained state space.

Definition at line 49 of file robowflex_dart/include/robowflex_dart/planning.h.

Constructor & Destructor Documentation

ConstraintExtractor() [1/2]

robowflex::darts::ConstraintExtractor::ConstraintExtractor ( )

default

Constructor.

ConstraintExtractor() [2/2]

ConstraintExtractor::ConstraintExtractor

(

const ompl::base::SpaceInformationPtr &

si

)

Constructor.

Parameters

[in]

si

The space information.

ConstraintExtractor

Definition at line 24 of file robowflex_dart/src/planning.cpp.

{
    setSpaceInformation(si);
}

Member Function Documentation

fromConstrainedState()

StateSpace::StateType * ConstraintExtractor::fromConstrainedState

(

ompl::base::State *

state

)

const

Access the underlying state from a constrained OMPL state.

Parameters

[in]

state

Constrained state to access.

Returns

The underlying state.

Definition at line 48 of file robowflex_dart/src/planning.cpp.

{
    return state->as<ompl::base::ConstrainedStateSpace::StateType>()->getState()->as<StateSpace::StateType>();
}

fromConstrainedStateConst()

const StateSpace::StateType * ConstraintExtractor::fromConstrainedStateConst

(

const ompl::base::State *

state

)

const

Access the underlying state from a constrained OMPL state.

Parameters

[in]

state

Constrained state to access.

Returns

The underlying state.

Definition at line 54 of file robowflex_dart/src/planning.cpp.

{
    return fromConstrainedState(const_cast<ompl::base::State *>(state));
}

fromUnconstrainedState()

StateSpace::StateType * ConstraintExtractor::fromUnconstrainedState

(

ompl::base::State *

state

)

const

Access the underlying state from an unconstrained OMPL state.

Parameters

[in]

state

Unconstrained state to access.

Returns

The underlying state.

Definition at line 59 of file robowflex_dart/src/planning.cpp.

{
    return state->as<StateSpace::StateType>();
}

fromUnconstrainedStateConst()

const StateSpace::StateType * ConstraintExtractor::fromUnconstrainedStateConst

(

const ompl::base::State *

state

)

const

Access the underlying state from an unconstrained OMPL state.

Parameters

[in]

state

Unconstrained state to access.

Returns

The underlying state.

Definition at line 65 of file robowflex_dart/src/planning.cpp.

{
    return fromUnconstrainedState(const_cast<ompl::base::State *>(state));
}

getSpace()

const StateSpace * ConstraintExtractor::getSpace

(

)

const

Gets the underlying state space from the space information.

Returns

State space.

Definition at line 70 of file robowflex_dart/src/planning.cpp.

{
    return (is_constrained_ ?
                space_info_->getStateSpace()->as<ompl::base::ConstrainedStateSpace>()->getSpace() :
                space_info_->getStateSpace())
        ->as<StateSpace>();
}

setSpaceInformation()

void ConstraintExtractor::setSpaceInformation

(

const ompl::base::SpaceInformationPtr &

si

)

Set space information used for constraint extraction.

Parameters

[in]

si

The space information.

Definition at line 29 of file robowflex_dart/src/planning.cpp.

{
    space_info_ = si;
    is_constrained_ = std::dynamic_pointer_cast<ompl::base::ConstrainedSpaceInformation>(si) != nullptr;
}

toState()

StateSpace::StateType * ConstraintExtractor::toState

(

ompl::base::State *

state

)

const

Extract underlying state from a base state.

Parameters

[in]

state

State.

Returns

Underlying robot state.

Definition at line 35 of file robowflex_dart/src/planning.cpp.

{
    if (is_constrained_)
        return fromConstrainedState(state);
 
    return fromUnconstrainedState(state);
}

toStateConst()

const StateSpace::StateType * ConstraintExtractor::toStateConst

(

const ompl::base::State *

state

)

const

Extract underlying state from a base state.

Parameters

[in]

state

State.

Returns

Underlying robot state.

Definition at line 43 of file robowflex_dart/src/planning.cpp.

{
    return toState(const_cast<ompl::base::State *>(state));
}

Member Data Documentation

is_constrained_

bool robowflex::darts::ConstraintExtractor::is_constrained_ {false}

private

Is the underlying space constrained?

Definition at line 114 of file robowflex_dart/include/robowflex_dart/planning.h.

space_info_

ompl::base::SpaceInformationPtr robowflex::darts::ConstraintExtractor::space_info_

private

Space Information.

Definition at line 113 of file robowflex_dart/include/robowflex_dart/planning.h.

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

• robowflex_dart/include/robowflex_dart/planning.h
• robowflex_dart/src/planning.cpp