exotica::Setup Class Reference

#include <setup.h>

Inheritance diagram for exotica::Setup:

Collaboration diagram for exotica::Setup:

Public Member Functions
	~Setup () noexcept
Public Member Functions inherited from exotica::Object
	Object ()
virtual	~Object ()
virtual std::string	type () const
	Type Information wrapper: must be virtual so that it is polymorphic... More...
std::string	GetObjectName ()
void	InstantiateObject (const Initializer &init)
virtual std::string	Print (const std::string &prepend) const

Static Public Member Functions
static std::shared_ptr< Setup >	Instance ()
static void	Destroy ()
static void	PrintSupportedClasses ()
static std::shared_ptr< exotica::MotionSolver >	CreateSolver (const std::string &type, bool prepend=true)
static std::shared_ptr< exotica::TaskMap >	CreateMap (const std::string &type, bool prepend=true)
static std::shared_ptr< exotica::PlanningProblem >	CreateProblem (const std::string &type, bool prepend=true)
static std::shared_ptr< exotica::CollisionScene >	CreateCollisionScene (const std::string &type, bool prepend=true)
static std::shared_ptr< exotica::DynamicsSolver >	CreateDynamicsSolver (const std::string &type, bool prepend=true)
static std::vector< std::string >	GetSolvers ()
static std::vector< std::string >	GetProblems ()
static std::vector< std::string >	GetMaps ()
static std::vector< std::string >	GetCollisionScenes ()
static std::vector< std::string >	GetDynamicsSolvers ()
static std::vector< Initializer >	GetInitializers ()
static std::shared_ptr< exotica::MotionSolver >	CreateSolver (const Initializer &init)
static std::shared_ptr< exotica::PlanningProblem >	CreateProblem (const Initializer &init)
static exotica::ScenePtr	CreateScene (const Initializer &init)
	CreateScene instantiate a scene from an initialiser The returned scene is independent of the internal EXOTica solver or problem state. It can only be used to access the parsed information like joint and link names or the kinematics. Changes to the scene will not affect the solver or problem. More...
static std::shared_ptr< exotica::DynamicsSolver >	CreateDynamicsSolver (const Initializer &init)
static std::shared_ptr< exotica::CollisionScene >	CreateCollisionScene (const Initializer &init)

Private Member Functions
	Setup ()
	Setup (Setup const &)=delete
void	operator= (Setup const &)=delete
Private Member Functions inherited from exotica::Uncopyable
	Uncopyable ()=default
	~Uncopyable ()=default

Static Private Member Functions
static std::shared_ptr< exotica::TaskMap >	CreateMap (const Initializer &init)

Private Attributes
friend	PlanningProblem
pluginlib::ClassLoader< exotica::MotionSolver >	solvers_
pluginlib::ClassLoader< exotica::TaskMap >	maps_
pluginlib::ClassLoader< exotica::CollisionScene >	collision_scenes_
pluginlib::ClassLoader< exotica::DynamicsSolver >	dynamics_solvers_
PlanningProblemFac	problems_

Static Private Attributes
static std::shared_ptr< Setup >	singleton_initialiser_

Additional Inherited Members
Public Attributes inherited from exotica::Object
std::string	ns_
std::string	object_name_
bool	debug_

Constructor & Destructor Documentation

~Setup()

exotica::Setup::~Setup ( )

inlinenoexcept

Setup() [1/2]

exotica::Setup::Setup ( )

private

Setup() [2/2]

exotica::Setup::Setup ( Setup const &  )

privatedelete

Member Function Documentation

CreateCollisionScene() [1/2]

static std::shared_ptr<exotica::CollisionScene> exotica::Setup::CreateCollisionScene ( const Initializer &  init )

inlinestatic

CreateCollisionScene() [2/2]

static std::shared_ptr<exotica::CollisionScene> exotica::Setup::CreateCollisionScene ( const std::string &  type, bool  prepend = true  )

inlinestatic

CreateDynamicsSolver() [1/2]

static std::shared_ptr<exotica::DynamicsSolver> exotica::Setup::CreateDynamicsSolver ( const Initializer &  init )

inlinestatic

CreateDynamicsSolver() [2/2]

static std::shared_ptr<exotica::DynamicsSolver> exotica::Setup::CreateDynamicsSolver ( const std::string &  type, bool  prepend = true  )

inlinestatic

CreateMap() [1/2]

static std::shared_ptr<exotica::TaskMap> exotica::Setup::CreateMap ( const Initializer &  init )

inlinestaticprivate

CreateMap() [2/2]

static std::shared_ptr<exotica::TaskMap> exotica::Setup::CreateMap ( const std::string &  type, bool  prepend = true  )

inlinestatic

CreateProblem() [1/2]

static std::shared_ptr<exotica::PlanningProblem> exotica::Setup::CreateProblem ( const Initializer &  init )

inlinestatic

CreateProblem() [2/2]

static std::shared_ptr<exotica::PlanningProblem> exotica::Setup::CreateProblem ( const std::string &  type, bool  prepend = true  )

inlinestatic

CreateScene()

static exotica::ScenePtr exotica::Setup::CreateScene ( const Initializer &  init )

inlinestatic

CreateScene instantiate a scene from an initialiser The returned scene is independent of the internal EXOTica solver or problem state. It can only be used to access the parsed information like joint and link names or the kinematics. Changes to the scene will not affect the solver or problem.

Parameters

init	scene initialiser

Returns

a shared pointer to the scene

CreateSolver() [1/2]

static std::shared_ptr<exotica::MotionSolver> exotica::Setup::CreateSolver ( const Initializer &  init )

inlinestatic

CreateSolver() [2/2]

static std::shared_ptr<exotica::MotionSolver> exotica::Setup::CreateSolver ( const std::string &  type, bool  prepend = true  )

inlinestatic

Destroy()

static void exotica::Setup::Destroy ( )

static

GetCollisionScenes()

static std::vector<std::string> exotica::Setup::GetCollisionScenes ( )

static

GetDynamicsSolvers()

static std::vector<std::string> exotica::Setup::GetDynamicsSolvers ( )

static

GetInitializers()

static std::vector<Initializer> exotica::Setup::GetInitializers ( )

static

GetMaps()

static std::vector<std::string> exotica::Setup::GetMaps ( )

static

GetProblems()

static std::vector<std::string> exotica::Setup::GetProblems ( )

static

GetSolvers()

static std::vector<std::string> exotica::Setup::GetSolvers ( )

static

Instance()

static std::shared_ptr<Setup> exotica::Setup::Instance ( )

inlinestatic

operator=()

void exotica::Setup::operator= ( Setup const &  )

privatedelete

PrintSupportedClasses()

static void exotica::Setup::PrintSupportedClasses ( )

static

Member Data Documentation

collision_scenes_

pluginlib::ClassLoader<exotica::CollisionScene> exotica::Setup::collision_scenes_

private

dynamics_solvers_

pluginlib::ClassLoader<exotica::DynamicsSolver> exotica::Setup::dynamics_solvers_

private

maps_

pluginlib::ClassLoader<exotica::TaskMap> exotica::Setup::maps_

private

PlanningProblem

friend exotica::Setup::PlanningProblem

private

problems_

PlanningProblemFac exotica::Setup::problems_

private

singleton_initialiser_

std::shared_ptr<Setup> exotica::Setup::singleton_initialiser_

staticprivate

solvers_

pluginlib::ClassLoader<exotica::MotionSolver> exotica::Setup::solvers_

private

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

• /tmp/exotica/exotica_core/include/exotica_core/setup.h