Rcs::ISSPlanarInsert Class Reference

#include <ISSPlanarInsert.h>

Inheritance diagram for Rcs::ISSPlanarInsert:

Collaboration diagram for Rcs::ISSPlanarInsert:

Public Member Functions
	ISSPlanarInsert (RcsGraph *graph)
virtual	~ISSPlanarInsert ()
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
RcsBody *	link1
RcsBody *	link2
RcsBody *	link3
RcsBody *	link4
RcsBody *	link5

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

Detailed Description

Initial state setter for the planar-insert environment. The initial state consists of the 4 joint angles.

Definition at line 43 of file ISSPlanarInsert.h.

Constructor & Destructor Documentation

ISSPlanarInsert()

Rcs::ISSPlanarInsert::ISSPlanarInsert

(

RcsGraph *

graph

)

Constructor. The passed graph must contain five bodies named 'Link1', 'Link2', 'Link3', 'Link4', and 'Link5'.

Parameters

graph

graph to set the state on

Definition at line 39 of file ISSPlanarInsert.cpp.

~ISSPlanarInsert()

Rcs::ISSPlanarInsert::~ISSPlanarInsert ( )

virtual

Definition at line 54 of file ISSPlanarInsert.cpp.

Member Function Documentation

applyInitialState()

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

overridevirtual

Set initial state of the graph.

Implements Rcs::InitStateSetter.

Definition at line 84 of file ISSPlanarInsert.cpp.

getDim()

unsigned int Rcs::ISSPlanarInsert::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 59 of file ISSPlanarInsert.cpp.

getMinMax()

void Rcs::ISSPlanarInsert::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 64 of file ISSPlanarInsert.cpp.

getNames()

std::vector< std::string > Rcs::ISSPlanarInsert::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 79 of file ISSPlanarInsert.cpp.

Member Data Documentation

link1

RcsBody* Rcs::ISSPlanarInsert::link1

private

Definition at line 64 of file ISSPlanarInsert.h.

link2

RcsBody* Rcs::ISSPlanarInsert::link2

private

Definition at line 65 of file ISSPlanarInsert.h.

link3

RcsBody* Rcs::ISSPlanarInsert::link3

private

Definition at line 66 of file ISSPlanarInsert.h.

link4

RcsBody* Rcs::ISSPlanarInsert::link4

private

Definition at line 67 of file ISSPlanarInsert.h.

link5

RcsBody* Rcs::ISSPlanarInsert::link5

private

Definition at line 68 of file ISSPlanarInsert.h.

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

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