Rcs::ISSBoxLifting Class Reference

#include <ISSBoxLifting.h>

Inheritance diagram for Rcs::ISSBoxLifting:

Collaboration diagram for Rcs::ISSBoxLifting:

Public Member Functions
	ISSBoxLifting (RcsGraph *graph, bool fixedInitState)
virtual	~ISSBoxLifting ()
unsigned int	getDim () const override
void	getMinMax (double *min, double *max) const override
virtual std::vector< std::string >	getNames () const
void	applyInitialState (const MatNd *initialState) override
Public Member Functions inherited from Rcs::InitStateSetter
	InitStateSetter (RcsGraph *graph)
virtual	~InitStateSetter ()
Public Member Functions inherited from Rcs::BoxSpaceProvider
	BoxSpaceProvider ()
virtual	~BoxSpaceProvider ()
	BoxSpaceProvider (const BoxSpaceProvider &)=delete
BoxSpaceProvider &	operator= (const BoxSpaceProvider &)=delete
	BoxSpaceProvider (BoxSpaceProvider &&)=delete
BoxSpaceProvider &	operator= (BoxSpaceProvider &&)=delete
const BoxSpace *	getSpace () const

Private Attributes
bool	fixedInitState
RcsBody *	platform
RcsBody *	rail
RcsBody *	link2R
RcsBody *	box

Additional Inherited Members
Protected Attributes inherited from Rcs::InitStateSetter
RcsGraph *	graph

Detailed Description

Initial state setter for the box lifting task. The initial state consists of the the x and y position of the base, the z position of the rail and two joint angles of the left and the right LBR arm.

Definition at line 44 of file ISSBoxLifting.h.

Constructor & Destructor Documentation

ISSBoxLifting()

Rcs::ISSBoxLifting::ISSBoxLifting	(	RcsGraph *	graph,
		bool	fixedInitState
	)

Constructor. The passed graph must contain the bodies ImetronPlatform, RailBot, lbr_link_2_L, lbr_link_2_R.

Parameters

graph

graph to set the state on

Definition at line 39 of file ISSBoxLifting.cpp.

~ISSBoxLifting()

Rcs::ISSBoxLifting::~ISSBoxLifting ( )

virtual

Definition at line 53 of file ISSBoxLifting.cpp.

Member Function Documentation

applyInitialState()

void Rcs::ISSBoxLifting::applyInitialState ( const MatNd *  initialState )

overridevirtual

Set initial state of the graph.

Implements Rcs::InitStateSetter.

Definition at line 82 of file ISSBoxLifting.cpp.

getDim()

unsigned int Rcs::ISSBoxLifting::getDim ( ) const

overridevirtual

Provides the number of elements in the space. Since the BoxSpace object will be cached, this must not change.

Returns

number of elements for the space.

Implements Rcs::BoxSpaceProvider.

Definition at line 58 of file ISSBoxLifting.cpp.

getMinMax()

void Rcs::ISSBoxLifting::getMinMax ( double *  min, double *  max  ) const

overridevirtual

Provides the minimum and maximum state values. The default implementation uses -inf and inf.

Reimplemented from Rcs::InitStateSetter.

Definition at line 63 of file ISSBoxLifting.cpp.

getNames()

std::vector< std::string > Rcs::ISSBoxLifting::getNames ( ) const

virtual

Provides names for each entry of the space.

These are intended for use in python, i.e., for pandas dataframe column names.

Returns

a vector of name strings. Must be of length getDim() or empty.

Reimplemented from Rcs::BoxSpaceProvider.

Definition at line 77 of file ISSBoxLifting.cpp.

Member Data Documentation

box

RcsBody* Rcs::ISSBoxLifting::box

private

Definition at line 69 of file ISSBoxLifting.h.

fixedInitState

bool Rcs::ISSBoxLifting::fixedInitState

private

Definition at line 65 of file ISSBoxLifting.h.

link2R

RcsBody* Rcs::ISSBoxLifting::link2R

private

Definition at line 68 of file ISSBoxLifting.h.

platform

RcsBody* Rcs::ISSBoxLifting::platform

private

Definition at line 66 of file ISSBoxLifting.h.

rail

RcsBody* Rcs::ISSBoxLifting::rail

private

Definition at line 67 of file ISSBoxLifting.h.

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

• src/cpp/core/initState/ISSBoxLifting.h
• src/cpp/core/initState/ISSBoxLifting.cpp