#include <setup.h>

Inheritance diagram for exotica::Setup:

Public Member Functions
	~Setup () noexcept

Public Member Functions inherited from exotica::Object
std::string	GetObjectName ()

void	InstantiateObject (const Initializer &init)

	Object ()

virtual std::string	Print (const std::string &prepend) const

virtual std::string	type () const
	Type Information wrapper: must be virtual so that it is polymorphic... More...

virtual	~Object ()

Static Public Member Functions
static std::shared_ptr< exotica::CollisionScene >	CreateCollisionScene (const Initializer &init)

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

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

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

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

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::MotionSolver >	CreateSolver (const Initializer &init)

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

static void	Destroy ()

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

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

static std::vector< Initializer >	GetInitializers ()

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

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

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

static std::shared_ptr< Setup >	Instance ()

static void	PrintSupportedClasses ()

Private Member Functions
void	operator= (Setup const &)=delete

	Setup ()

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

pluginlib::ClassLoader< exotica::DynamicsSolver >	dynamics_solvers_

pluginlib::ClassLoader< exotica::TaskMap >	maps_

friend	PlanningProblem

PlanningProblemFac	problems_

pluginlib::ClassLoader< exotica::MotionSolver >	solvers_

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

Additional Inherited Members
Public Attributes inherited from exotica::Object
bool	debug_

std::string	ns_

std::string	object_name_

Detailed Description

Definition at line 47 of file setup.h.

Constructor & Destructor Documentation

◆ ~Setup()

exotica::Setup::~Setup ( )

inlinenoexcept

Definition at line 50 of file setup.h.

◆ Setup() [1/2]

exotica::Setup::Setup ( )

private

Definition at line 166 of file setup.cpp.

◆ 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

Definition at line 112 of file setup.h.

◆ CreateCollisionScene() [2/2]

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

inlinestatic

Definition at line 67 of file setup.h.

◆ CreateDynamicsSolver() [1/2]

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

inlinestatic

Definition at line 105 of file setup.h.

◆ CreateDynamicsSolver() [2/2]

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

inlinestatic

Definition at line 68 of file setup.h.

◆ CreateMap() [1/2]

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

inlinestaticprivate

Definition at line 127 of file setup.h.

◆ CreateMap() [2/2]

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

inlinestatic

Definition at line 65 of file setup.h.

◆ CreateProblem() [1/2]

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

inlinestatic

Definition at line 82 of file setup.h.

◆ CreateProblem() [2/2]

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

inlinestatic

Definition at line 66 of file setup.h.

◆ 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

Definition at line 98 of file setup.h.

◆ CreateSolver() [1/2]

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

inlinestatic

Definition at line 76 of file setup.h.

◆ CreateSolver() [2/2]

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

inlinestatic

Definition at line 64 of file setup.h.

◆ Destroy()

void exotica::Setup::Destroy ( )

static

Definition at line 42 of file setup.cpp.

◆ GetCollisionScenes()

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

static

Definition at line 164 of file setup.cpp.

◆ GetDynamicsSolvers()

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

static

Definition at line 165 of file setup.cpp.

◆ GetInitializers()

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

static

Definition at line 103 of file setup.cpp.

◆ GetMaps()

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

static

Definition at line 163 of file setup.cpp.

◆ GetProblems()

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

static

Definition at line 162 of file setup.cpp.

◆ GetSolvers()

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

static

Definition at line 161 of file setup.cpp.

◆ Instance()

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

inlinestatic

Definition at line 55 of file setup.h.

◆ operator=()

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

privatedelete

◆ PrintSupportedClasses()

void exotica::Setup::PrintSupportedClasses ( )

static

Definition at line 48 of file setup.cpp.

Member Data Documentation

◆ collision_scenes_

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

private

Definition at line 136 of file setup.h.

◆ dynamics_solvers_

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

private

Definition at line 137 of file setup.h.

◆ maps_

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

private

Definition at line 135 of file setup.h.

◆ PlanningProblem

friend exotica::Setup::PlanningProblem

private

Definition at line 120 of file setup.h.

◆ problems_

PlanningProblemFac exotica::Setup::problems_

private

Definition at line 138 of file setup.h.

◆ singleton_initialiser_

SetupPtr exotica::Setup::singleton_initialiser_ = nullptr

staticprivate

Definition at line 122 of file setup.h.

◆ solvers_

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

private

Definition at line 134 of file setup.h.

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~Setup()

◆ Setup() [1/2]

◆ Setup() [2/2]

Member Function Documentation

◆ CreateCollisionScene() [1/2]

◆ CreateCollisionScene() [2/2]

◆ CreateDynamicsSolver() [1/2]

◆ CreateDynamicsSolver() [2/2]

◆ CreateMap() [1/2]

◆ CreateMap() [2/2]

◆ CreateProblem() [1/2]

◆ CreateProblem() [2/2]

◆ CreateScene()

◆ CreateSolver() [1/2]

◆ CreateSolver() [2/2]

◆ Destroy()

◆ GetCollisionScenes()

◆ GetDynamicsSolvers()

◆ GetInitializers()

◆ GetMaps()

◆ GetProblems()

◆ GetSolvers()

◆ Instance()

◆ operator=()

◆ PrintSupportedClasses()

Member Data Documentation

◆ collision_scenes_

◆ dynamics_solvers_

◆ maps_

◆ PlanningProblem

◆ problems_

◆ singleton_initialiser_

◆ solvers_