Abstract controllable joint for robowflex::darts::StateSpace. More...

#include <joints.h>

Inheritance diagram for robowflex::darts::Joint:

Public Member Functions
Constructors.
	Joint (StateSpace *space, unsigned int skelIndex, unsigned int jointIndex, unsigned int sizeInSpace, unsigned int startIndex, unsigned int numDof)
	Constructor. More...

	Joint (StateSpace space, dart::dynamics::Joint joint, unsigned int sizeInSpace, unsigned int startIndex=0, unsigned int numDof=0)
	Constructor. More...

Configuration access.
Eigen::Ref< Eigen::VectorXd >	getSpaceVars (Eigen::Ref< Eigen::VectorXd > a)
	Gets the joint configuration (subvector of variables for this joint) from a configuration. More...

Eigen::Ref< const Eigen::VectorXd >	getSpaceVarsConst (const Eigen::Ref< const Eigen::VectorXd > &a)
	Gets the subvector of variables for this joint from a configuration. More...

const std::vector< std::size_t > &	getIndices () const
	Get the indices in the skeleton for this joint. More...

const std::vector< std::string > &	getDofs () const
	Get the names of the DoF in the skeleton for this joint. More...

std::size_t	getSkeletonIndex () const
	Get the index of the skeleton for this joint in the world. More...

std::size_t	getJointIndex () const
	Get the index of the joint in the skeleton. More...

std::size_t	getDimension () const
	Get the dimension of this joint. More...

Joint operations.
virtual void	setUpperLimits (const Eigen::Ref< const Eigen::VectorXd > &v)
	Set the upper limits of a joint. More...

virtual void	setLowerLimits (const Eigen::Ref< const Eigen::VectorXd > &v)
	Set the lower limits of a joint. More...

virtual Eigen::VectorXd	getUpperLimits () const
	Get the upper limits of a joint. More...

virtual Eigen::VectorXd	getLowerLimits () const
	Get the lower limits of a joint. More...

virtual double	distance (const Eigen::Ref< const Eigen::VectorXd > &a, const Eigen::Ref< const Eigen::VectorXd > &b) const =0
	Compute the distance between two joint configurations. More...

virtual double	getMaximumExtent () const =0
	Get the maximum extent of this joint (maximum distance). More...

virtual void	interpolate (const Eigen::Ref< const Eigen::VectorXd > &a, const Eigen::Ref< const Eigen::VectorXd > &b, double t, Eigen::Ref< Eigen::VectorXd > c) const =0
	Interpolate to a new configuration c which is t from a to b. More...

virtual void	enforceBounds (Eigen::Ref< Eigen::VectorXd > a) const =0
	Enforce bounds on a joint configuration. More...

virtual bool	satisfiesBounds (const Eigen::Ref< const Eigen::VectorXd > &a) const =0
	Check if a joint configuration satisfies bounds. More...

virtual void	sample (Eigen::Ref< Eigen::VectorXd > a) const =0
	Sample a configuration for this joint. More...

virtual void	sampleNear (Eigen::Ref< Eigen::VectorXd > a, const Eigen::Ref< const Eigen::VectorXd > &near, double r) const =0
	Sample a configuration for this joint near another configuration near. More...

World modification.
virtual void	setJointState (WorldPtr world, const Eigen::Ref< const Eigen::VectorXd > &a) const
	Set the state of the joint in world. More...

virtual void	getJointState (WorldPtr world, Eigen::Ref< Eigen::VectorXd > a) const
	Get the state of the joint in world. More...

dart::dynamics::Joint *	getJoint (WorldPtr world) const
	Get the Dart joint from a world. More...

Protected Attributes
StateSpace *	space_
	State space this joint is for. More...

ompl::RNG &	rng_
	Random number generator. More...

std::vector< std::size_t >	indices_
	Indices this joint corresponds to. More...

std::vector< std::string >	dofs_
	Controlled DoF names. More...

unsigned int	skelIndex_
	Index of skeleton. More...

unsigned int	jointIndex_
	Index of joint. More...

unsigned int	startInSpace_
	Start index in space configuration. More...

unsigned int	sizeInSpace_
	Size of joint in space configuration. More...

unsigned int	startIndex_
	Start index in joint. More...

unsigned int	numDof_
	Number of DoF this joint controls. More...

Detailed Description

Abstract controllable joint for robowflex::darts::StateSpace.

Definition at line 37 of file joints.h.

Constructor & Destructor Documentation

◆ Joint() [1/2]

Joint::Joint	(	StateSpace *	space,
		unsigned int	skelIndex,
		unsigned int	jointIndex,
		unsigned int	sizeInSpace,
		unsigned int	startIndex,
		unsigned int	numDof
	)

Constructor.

Parameters

[in]	space	State space this joint will be in.
[in]	skelIndex	Index of the skeleton this joint is in.
[in]	jointIndex	Index of joint in skeleton.
[in]	sizeInSpace	Number of DoFs in the state space.
[in]	startIndex	Starting index in a configuration vector.
[in]	numDof	Number of DoFs this joint has in the skeleton.

Joint

Definition at line 15 of file joint.cpp.

   : space_(space)
   , rng_(space->rng_)
   , skelIndex_(skelIndex)
   , jointIndex_(jointIndex)
   , startInSpace_(space_->getDimension())
   , sizeInSpace_(sizeInSpace)
   , startIndex_(startIndex)
   , numDof_(numDof)
 {
     auto *joint = getJoint(space_->getWorld());
     for (unsigned int i = 0; i < numDof_; ++i)
     {
         unsigned int j = startIndex_ + i;
         if (j >= joint->getNumDofs())
             throw std::runtime_error("Invalid joint");
  
         auto *dof = joint->getDof(j);
         indices_.emplace_back(dof->getIndexInSkeleton());
         dofs_.emplace_back(dof->getName());
     }
 }

◆ Joint() [2/2]

Joint::Joint	(	StateSpace *	space,
		dart::dynamics::Joint *	joint,
		unsigned int	sizeInSpace,
		unsigned int	startIndex = `0`,
		unsigned int	numDof = `0`
	)

Constructor.

Parameters

[in]	space	State space this joint will be in.
[in]	joint	Joint in skeleton.
[in]	sizeInSpace	Number of DoFs in the state space.
[in]	startIndex	Starting index in a configuration vector.
[in]	numDof	Number of DoFs this joint has in the skeleton.

Definition at line 43 of file joint.cpp.

   : Joint(space,                                                      //
           space->getWorld()->getSkeletonIndex(joint->getSkeleton()),  //
           joint->getJointIndexInSkeleton(),                           //
           sizeInSpace,                                                //
           startIndex,                                                 //
           (numDof) ? numDof : joint->getNumDofs())
 {
 }

Member Function Documentation

◆ distance()

virtual double robowflex::darts::Joint::distance	(	const Eigen::Ref< const Eigen::VectorXd > &	a,
		const Eigen::Ref< const Eigen::VectorXd > &	b
	)		const

pure virtual

Compute the distance between two joint configurations.

Parameters

[in]	a	Joint configuration a.
[in]	b	Joint configuration b.

Returns: Distance between configurations.

Implemented in robowflex::darts::SO3Joint, robowflex::darts::SO2Joint, and robowflex::darts::RnJoint.

◆ enforceBounds()

virtual void robowflex::darts::Joint::enforceBounds ( Eigen::Ref< Eigen::VectorXd > a ) const

pure virtual

Enforce bounds on a joint configuration.

Parameters

[in,out] a Joint configuration to modify.

Implemented in robowflex::darts::SO3Joint, robowflex::darts::SO2Joint, and robowflex::darts::RnJoint.

◆ getDimension()

std::size_t Joint::getDimension ( ) const

Get the dimension of this joint.

Returns: The dimension of the joint.

Definition at line 90 of file joint.cpp.

 {
     return numDof_;
 }

◆ getDofs()

const std::vector< std::string > & Joint::getDofs ( ) const

Get the names of the DoF in the skeleton for this joint.

Returns: Names of joint DoFs.

Definition at line 75 of file joint.cpp.

 {
     return dofs_;
 }

◆ getIndices()

const std::vector< std::size_t > & Joint::getIndices ( ) const

Get the indices in the skeleton for this joint.

Returns: Indices of joint DoFs.

Definition at line 70 of file joint.cpp.

 {
     return indices_;
 }

◆ getJoint()

dart::dynamics::Joint * Joint::getJoint ( WorldPtr world ) const

Get the Dart joint from a world.

Parameters

[in] world World to get joint from.

Returns: Joint.

Definition at line 54 of file joint.cpp.

 {
     const auto &sim = world->getSimConst();
     return sim->getSkeleton(skelIndex_)->getJoint(jointIndex_);
 }

◆ getJointIndex()

std::size_t Joint::getJointIndex ( ) const

Get the index of the joint in the skeleton.

Returns: Joint index.

Definition at line 85 of file joint.cpp.

 {
     return jointIndex_;
 }

◆ getJointState()

void Joint::getJointState	(	WorldPtr	world,
		Eigen::Ref< Eigen::VectorXd >	a
	)		const

virtual

Get the state of the joint in world.

Parameters

[in]	world	World to get joint state from.
[out]	a	Joint configuration to set.

Reimplemented in robowflex::darts::SO3Joint.

Definition at line 101 of file joint.cpp.

 {
     auto *joint = getJoint(std::move(world));
     a = joint->getSkeleton()->getPositions(indices_);
 }

◆ getLowerLimits()

Eigen::VectorXd Joint::getLowerLimits ( ) const

virtual

Get the lower limits of a joint.

Returns: The lower limits of the joint.

Definition at line 122 of file joint.cpp.

 {
     return space_->getLowerBound().segment(startInSpace_, sizeInSpace_);
 }

◆ getMaximumExtent()

virtual double robowflex::darts::Joint::getMaximumExtent ( ) const

pure virtual

Get the maximum extent of this joint (maximum distance).

Returns: The maximum extent.

Implemented in robowflex::darts::SO3Joint, robowflex::darts::SO2Joint, and robowflex::darts::RnJoint.

◆ getSkeletonIndex()

std::size_t Joint::getSkeletonIndex ( ) const

Get the index of the skeleton for this joint in the world.

Returns: Skeleton index.

Definition at line 80 of file joint.cpp.

 {
     return skelIndex_;
 }

◆ getSpaceVars()

Eigen::Ref< Eigen::VectorXd > Joint::getSpaceVars ( Eigen::Ref< Eigen::VectorXd > a )

Gets the joint configuration (subvector of variables for this joint) from a configuration.

Parameters

[in] a Configuration of the full space.

Returns: A vector of variables for this joint.

Definition at line 60 of file joint.cpp.

 {
     return a.segment(startInSpace_, sizeInSpace_);
 }

◆ getSpaceVarsConst()

Eigen::Ref< const Eigen::VectorXd > Joint::getSpaceVarsConst ( const Eigen::Ref< const Eigen::VectorXd > & a )

Gets the subvector of variables for this joint from a configuration.

Parameters

[in] a Configuration of the full space.

Returns: A vector of variables for this joint.

Definition at line 65 of file joint.cpp.

 {
     return a.segment(startInSpace_, sizeInSpace_);
 }

◆ getUpperLimits()

Eigen::VectorXd Joint::getUpperLimits ( ) const

virtual

Get the upper limits of a joint.

Returns: The upper limits of the joint.

Definition at line 117 of file joint.cpp.

 {
     return space_->getUpperBound().segment(startInSpace_, sizeInSpace_);
 }

◆ interpolate()

virtual void robowflex::darts::Joint::interpolate	(	const Eigen::Ref< const Eigen::VectorXd > &	a,
		const Eigen::Ref< const Eigen::VectorXd > &	b,
		double	t,
		Eigen::Ref< Eigen::VectorXd >	c
	)		const

pure virtual

Interpolate to a new configuration c which is t from a to b.

Parameters

[in]	a	Joint configuration a.
[in]	b	Joint configuration b.
[in]	t	Amount to interpolate.
[out]	c	Interpolated configuration.

Implemented in robowflex::darts::SO3Joint, robowflex::darts::SO2Joint, and robowflex::darts::RnJoint.

◆ sample()

virtual void robowflex::darts::Joint::sample ( Eigen::Ref< Eigen::VectorXd > a ) const

pure virtual

Sample a configuration for this joint.

Parameters

[out] a Joint configuration to sample.

Implemented in robowflex::darts::SO3Joint, robowflex::darts::SO2Joint, and robowflex::darts::RnJoint.

◆ sampleNear()

virtual void robowflex::darts::Joint::sampleNear	(	Eigen::Ref< Eigen::VectorXd >	a,
		const Eigen::Ref< const Eigen::VectorXd > &	near,
		double	r
	)		const

pure virtual

Sample a configuration for this joint near another configuration near.

Parameters

[out]	a	Joint configuration to sample.
[in]	near	Joint configuration to sample near.
[in]	r	Distance from near to sample within.

Implemented in robowflex::darts::SO3Joint, robowflex::darts::SO2Joint, and robowflex::darts::RnJoint.

◆ satisfiesBounds()

virtual bool robowflex::darts::Joint::satisfiesBounds ( const Eigen::Ref< const Eigen::VectorXd > & a ) const

pure virtual

Check if a joint configuration satisfies bounds.

Parameters

[in,out] a Joint configuration to check.

Returns: True if configuration satisfies bounds, false otherwise.

Implemented in robowflex::darts::SO3Joint, robowflex::darts::SO2Joint, and robowflex::darts::RnJoint.

◆ setJointState()

void Joint::setJointState	(	WorldPtr	world,
		const Eigen::Ref< const Eigen::VectorXd > &	a
	)		const

virtual

Set the state of the joint in world.

Parameters

[out]	world	World to set joint state in.
[in]	a	Joint configuration to set.

Reimplemented in robowflex::darts::SO3Joint.

Definition at line 95 of file joint.cpp.

 {
     auto *joint = getJoint(std::move(world));
     joint->getSkeleton()->setPositions(indices_, a);
 }

◆ setLowerLimits()

void Joint::setLowerLimits ( const Eigen::Ref< const Eigen::VectorXd > & v )

virtual

Set the lower limits of a joint.

Parameters

[in] v Lower limits of the joint.

Reimplemented in robowflex::darts::RnJoint.

Definition at line 112 of file joint.cpp.

 {
     throw std::runtime_error("Cannot set bounds on this joint!");
 }

◆ setUpperLimits()

void Joint::setUpperLimits ( const Eigen::Ref< const Eigen::VectorXd > & v )

virtual

Set the upper limits of a joint.

Parameters

[in] v Upper limits of the joint.

Reimplemented in robowflex::darts::RnJoint.

Definition at line 107 of file joint.cpp.

 {
     throw std::runtime_error("Cannot set bounds on this joint!");
 }

Member Data Documentation

◆ dofs_

std::vector<std::string> robowflex::darts::Joint::dofs_

protected

Controlled DoF names.

Definition at line 209 of file joints.h.

◆ indices_

std::vector<std::size_t> robowflex::darts::Joint::indices_

protected

Indices this joint corresponds to.

Definition at line 208 of file joints.h.

◆ jointIndex_

unsigned int robowflex::darts::Joint::jointIndex_

protected

Index of joint.

Definition at line 212 of file joints.h.

◆ numDof_

unsigned int robowflex::darts::Joint::numDof_

protected

Number of DoF this joint controls.

Definition at line 218 of file joints.h.

◆ rng_

ompl::RNG& robowflex::darts::Joint::rng_

protected

Random number generator.

Definition at line 206 of file joints.h.

◆ sizeInSpace_

unsigned int robowflex::darts::Joint::sizeInSpace_

protected

Size of joint in space configuration.

Definition at line 215 of file joints.h.

◆ skelIndex_

unsigned int robowflex::darts::Joint::skelIndex_

protected

Index of skeleton.

Definition at line 211 of file joints.h.

◆ space_

StateSpace* robowflex::darts::Joint::space_

protected

State space this joint is for.

Definition at line 205 of file joints.h.

◆ startIndex_

unsigned int robowflex::darts::Joint::startIndex_

protected

Start index in joint.

Definition at line 217 of file joints.h.

◆ startInSpace_

unsigned int robowflex::darts::Joint::startInSpace_

protected

Start index in space configuration.

Definition at line 214 of file joints.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Joint() [1/2]

◆ Joint() [2/2]

Member Function Documentation

◆ distance()

◆ enforceBounds()

◆ getDimension()

◆ getDofs()

◆ getIndices()

◆ getJoint()

◆ getJointIndex()

◆ getJointState()

◆ getLowerLimits()

◆ getMaximumExtent()

◆ getSkeletonIndex()

◆ getSpaceVars()

◆ getSpaceVarsConst()

◆ getUpperLimits()

◆ interpolate()

◆ sample()

◆ sampleNear()

◆ satisfiesBounds()

◆ setJointState()

◆ setLowerLimits()

◆ setUpperLimits()

Member Data Documentation

◆ dofs_

◆ indices_

◆ jointIndex_

◆ numDof_

◆ rng_

◆ sizeInSpace_

◆ skelIndex_

◆ space_

◆ startIndex_

◆ startInSpace_