LinearDistanceAndInterpolationProvider Class Reference

Detailed Description

This class represents a basic "linear" implementation of DistanceAndInterpolationProvider.

• Configuration distance is computed as difference.cwiseProduct(weights).norm(), where difference is computed as the angle between quaternion DoF and difference between all other positions. Default weights are (1, 0, 0, 0) for quaternion DoF and 1 for all other positions.
• Configuration interpolation is performed using slerp for quaternion DoF and linear interpolation for all other positions.

#include <drake/planning/linear_distance_and_interpolation_provider.h>

Public Member Functions
	LinearDistanceAndInterpolationProvider (const multibody::MultibodyPlant< double > &plant, const std::map< multibody::JointIndex, Eigen::VectorXd > &joint_distance_weights)
	Constructs a LinearDistanceAndInterpolationProvider for the specified plant using the provided map of distance weights joint_distance_weights and default weights (i.e.
	LinearDistanceAndInterpolationProvider (const multibody::MultibodyPlant< double > &plant, const Eigen::VectorXd &distance_weights)
	Constructs a LinearDistanceAndInterpolationProvider for the specified plant with the provided distance weights distance_weights.
	LinearDistanceAndInterpolationProvider (const multibody::MultibodyPlant< double > &plant)
	Constructs a LinearDistanceAndInterpolationProvider for the specified plant with default distance weights (i.e.
	~LinearDistanceAndInterpolationProvider () final
const Eigen::VectorXd &	distance_weights () const
	Gets the distance weights.
const std::vector< int > &	quaternion_dof_start_indices () const
	Gets the start indices for quaternion DoF in the position vector.
Does not allow copy, move, or assignment
	LinearDistanceAndInterpolationProvider (const LinearDistanceAndInterpolationProvider &)=delete
LinearDistanceAndInterpolationProvider &	operator= (const LinearDistanceAndInterpolationProvider &)=delete
	LinearDistanceAndInterpolationProvider (LinearDistanceAndInterpolationProvider &&)=delete
LinearDistanceAndInterpolationProvider &	operator= (LinearDistanceAndInterpolationProvider &&)=delete
Public Member Functions inherited from DistanceAndInterpolationProvider
virtual	~DistanceAndInterpolationProvider ()
double	ComputeConfigurationDistance (const Eigen::VectorXd &from, const Eigen::VectorXd &to) const
	Computes the configuration distance from the provided configuration from to the provided configuration to.
Eigen::VectorXd	InterpolateBetweenConfigurations (const Eigen::VectorXd &from, const Eigen::VectorXd &to, double ratio) const
	Returns the interpolated configuration between from and to at ratio.
	DistanceAndInterpolationProvider (const DistanceAndInterpolationProvider &)=delete
DistanceAndInterpolationProvider &	operator= (const DistanceAndInterpolationProvider &)=delete
	DistanceAndInterpolationProvider (DistanceAndInterpolationProvider &&)=delete
DistanceAndInterpolationProvider &	operator= (DistanceAndInterpolationProvider &&)=delete

Additional Inherited Members
Protected Member Functions inherited from DistanceAndInterpolationProvider
	DistanceAndInterpolationProvider ()

Constructor & Destructor Documentation

LinearDistanceAndInterpolationProvider() [1/5]

LinearDistanceAndInterpolationProvider ( const LinearDistanceAndInterpolationProvider & )

delete

LinearDistanceAndInterpolationProvider() [2/5]

LinearDistanceAndInterpolationProvider ( LinearDistanceAndInterpolationProvider && )

delete

LinearDistanceAndInterpolationProvider() [3/5]

LinearDistanceAndInterpolationProvider	(	const multibody::MultibodyPlant< double > &	plant,
		const std::map< multibody::JointIndex, Eigen::VectorXd > &	joint_distance_weights )

Constructs a LinearDistanceAndInterpolationProvider for the specified plant using the provided map of distance weights joint_distance_weights and default weights (i.e.

1) for all other positions.

Precondition

all distance weights must be non-negative and finite.

LinearDistanceAndInterpolationProvider() [4/5]

LinearDistanceAndInterpolationProvider	(	const multibody::MultibodyPlant< double > &	plant,
		const Eigen::VectorXd &	distance_weights )

Constructs a LinearDistanceAndInterpolationProvider for the specified plant with the provided distance weights distance_weights.

Precondition

distance_weights must be the same size as plant.num_positions(), all weights must be non-negative and finite, and weights for quaternion DoF must be of the form (weight, 0, 0, 0).

LinearDistanceAndInterpolationProvider() [5/5]

LinearDistanceAndInterpolationProvider ( const multibody::MultibodyPlant< double > & plant )

explicit

Constructs a LinearDistanceAndInterpolationProvider for the specified plant with default distance weights (i.e.

1) for all positions. Equivalent to constructing with an empty map of named joint distance weights.

~LinearDistanceAndInterpolationProvider()

~LinearDistanceAndInterpolationProvider ( )

final

Member Function Documentation

distance_weights()

const Eigen::VectorXd & distance_weights

(

)

const

Gets the distance weights.

operator=() [1/2]

LinearDistanceAndInterpolationProvider & operator= ( const LinearDistanceAndInterpolationProvider & )

delete

operator=() [2/2]

LinearDistanceAndInterpolationProvider & operator= ( LinearDistanceAndInterpolationProvider && )

delete

quaternion_dof_start_indices()

const std::vector< int > & quaternion_dof_start_indices

(

)

const

Gets the start indices for quaternion DoF in the position vector.

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

• drake/planning/linear_distance_and_interpolation_provider.h