A real vector joint of n dimensions. More...

#include <joints.h>

Inheritance diagram for robowflex::darts::RnJoint:

Public Member Functions
void	setUpperLimits (const Eigen::Ref< const Eigen::VectorXd > &v) override
	Set the upper limits of a joint. More...

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

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

double	getMaximumExtent () const override
	Get the maximum extent of this joint (maximum distance). More...

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

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

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

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

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

Constructors.
	RnJoint (StateSpace space, dart::dynamics::Joint joint, double low, double high)
	Constructor. More...

	RnJoint (StateSpace space, dart::dynamics::Joint joint, unsigned int n, unsigned int start, Eigen::VectorXd low, Eigen::VectorXd high)
	Constructor. More...

Public Member Functions inherited from robowflex::darts::Joint
	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...

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...

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 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...

Private Attributes
Eigen::VectorXd	low_
	Lower bounds. More...

Eigen::VectorXd	high_
	Upper bounds. More...

Additional Inherited Members
Protected Attributes inherited from robowflex::darts::Joint
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

A real vector joint of n dimensions.

Definition at line 223 of file joints.h.

Constructor & Destructor Documentation

◆ RnJoint() [1/2]

RnJoint::RnJoint	(	StateSpace *	space,
		dart::dynamics::Joint *	joint,
		double	low,
		double	high
	)

Constructor.

Parameters

[in]	space	State space.
[in]	joint	1-DoF joint to control.
[in]	low	Lower bound.
[in]	high	Upper bound.

RnJoint

Definition at line 12 of file rnjoint.cpp.

   : RnJoint(space, joint,                       //
             1, 0,                               //
             Eigen::VectorXd::Constant(1, low),  //
             Eigen::VectorXd::Constant(1, high))
 {
 }

◆ RnJoint() [2/2]

RnJoint::RnJoint	(	StateSpace *	space,
		dart::dynamics::Joint *	joint,
		unsigned int	n,
		unsigned int	start,
		Eigen::VectorXd	low,
		Eigen::VectorXd	high
	)

Constructor.

Parameters

[in]	space	State space.
[in]	joint	n-DoF joint to control.
[in]	n	Number of DoF.
[in]	start	Which DoF to start controlling.
[in]	low	Lower bound.
[in]	high	Upper bound.

Definition at line 22 of file rnjoint.cpp.

   : Joint(space, joint, n, start, n), low_(low), high_(high)
 {
     if (low_.size() != numDof_ or high_.size() != numDof_)
     {
     }
  
     for (unsigned int i = 0; i < numDof_; ++i)
         space_->addDimension(low[i], high[i]);
 }

Member Function Documentation

◆ distance()

double RnJoint::distance	(	const Eigen::Ref< const Eigen::VectorXd > &	a,
		const Eigen::Ref< const Eigen::VectorXd > &	b
	)		const

overridevirtual

Compute the distance between two joint configurations.

Parameters

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

Returns: Distance between configurations.

Implements robowflex::darts::Joint.

Definition at line 37 of file rnjoint.cpp.

 {
     return (a - b).lpNorm<1>();
 }

◆ enforceBounds()

void RnJoint::enforceBounds ( Eigen::Ref< Eigen::VectorXd > a ) const

overridevirtual

Enforce bounds on a joint configuration.

Parameters

[in,out] a Joint configuration to modify.

Implements robowflex::darts::Joint.

Definition at line 56 of file rnjoint.cpp.

 {
     for (unsigned int i = 0; i < numDof_; ++i)
     {
         double &v = a[i];
         v = (v < low_[i]) ? low_[i] : ((v > high_[i]) ? high_[i] : v);
     }
 }

◆ getMaximumExtent()

double RnJoint::getMaximumExtent ( ) const

overridevirtual

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

Returns: The maximum extent.

Implements robowflex::darts::Joint.

Definition at line 43 of file rnjoint.cpp.

 {
     return distance(low_, high_);
 }

◆ interpolate()

void RnJoint::interpolate	(	const Eigen::Ref< const Eigen::VectorXd > &	a,
		const Eigen::Ref< const Eigen::VectorXd > &	b,
		double	t,
		Eigen::Ref< Eigen::VectorXd >	c
	)		const

overridevirtual

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.

Implements robowflex::darts::Joint.

Definition at line 48 of file rnjoint.cpp.

 {
     c = a + t * (b - a);
 }

◆ sample()

void RnJoint::sample ( Eigen::Ref< Eigen::VectorXd > a ) const

overridevirtual

Sample a configuration for this joint.

Parameters

[out] a Joint configuration to sample.

Implements robowflex::darts::Joint.

Definition at line 77 of file rnjoint.cpp.

 {
     for (unsigned int i = 0; i < numDof_; ++i)
         a[i] = rng_.uniformReal(low_[i], high_[i]);
 }

◆ sampleNear()

void RnJoint::sampleNear	(	Eigen::Ref< Eigen::VectorXd >	a,
		const Eigen::Ref< const Eigen::VectorXd > &	near,
		double	r
	)		const

overridevirtual

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.

Implements robowflex::darts::Joint.

Definition at line 83 of file rnjoint.cpp.

 {
     for (unsigned int i = 0; i < numDof_; ++i)
         a[i] = rng_.uniformReal(near[i] - r, near[i] + r);
  
     enforceBounds(a);
 }

◆ satisfiesBounds()

bool RnJoint::satisfiesBounds ( const Eigen::Ref< const Eigen::VectorXd > & a ) const

overridevirtual

Check if a joint configuration satisfies bounds.

Parameters

[in,out] a Joint configuration to check.

Returns: True if configuration satisfies bounds, false otherwise.

Implements robowflex::darts::Joint.

Definition at line 65 of file rnjoint.cpp.

 {
     for (unsigned int i = 0; i < numDof_; ++i)
     {
         const double &v = a[i];
         if ((v < low_[i]) or (v > high_[i]))
             return false;
     }
  
     return true;
 }

◆ setLowerLimits()

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

overridevirtual

Set the lower limits of a joint.

Parameters

[in] v Lower limits of the joint.

Reimplemented from robowflex::darts::Joint.

Definition at line 104 of file rnjoint.cpp.

 {
     if (v.size() != low_.size())
         throw std::runtime_error("Incorrect size for limits!");
  
     low_ = v;
  
     for (std::size_t i = 0; i < sizeInSpace_; ++i)
         space_->bounds_.setLow(startInSpace_ + i, low_[i]);
 }

◆ setUpperLimits()

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

overridevirtual

Set the upper limits of a joint.

Parameters

[in] v Upper limits of the joint.

Reimplemented from robowflex::darts::Joint.

Definition at line 93 of file rnjoint.cpp.

 {
     if (v.size() != high_.size())
         throw std::runtime_error("Incorrect size for limits!");
  
     high_ = v;
  
     for (std::size_t i = 0; i < sizeInSpace_; ++i)
         space_->bounds_.setHigh(startInSpace_ + i, high_[i]);
 }

Member Data Documentation

◆ high_

Eigen::VectorXd robowflex::darts::RnJoint::high_

private

Upper bounds.

Definition at line 279 of file joints.h.

◆ low_

Eigen::VectorXd robowflex::darts::RnJoint::low_

private

Lower bounds.

Definition at line 278 of file joints.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RnJoint() [1/2]

◆ RnJoint() [2/2]

Member Function Documentation

◆ distance()

◆ enforceBounds()

◆ getMaximumExtent()

◆ interpolate()

◆ sample()

◆ sampleNear()

◆ satisfiesBounds()

◆ setLowerLimits()

◆ setUpperLimits()

Member Data Documentation

◆ high_

◆ low_