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save joint limits of space in MetaSkeletonStateSpaceSaver #219

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merged 3 commits into from
Sep 26, 2017
Merged

save joint limits of space in MetaSkeletonStateSpaceSaver #219

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9f667ca
save joint limits of space in MetaSkeletonStateSpaceSaver
dqyi11 Sep 25, 2017
f176e0e
update error message print
dqyi11 Sep 26, 2017
f7b63cd
update error message print
dqyi11 Sep 26, 2017
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4 changes: 3 additions & 1 deletion include/aikido/statespace/dart/MetaSkeletonStateSpaceSaver.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ namespace statespace {
namespace dart {

/// RAII class to save and restore a MetaSkeletonStateSpace's state.
/// FIXME: currently only saves position.
/// FIXME: currently only saves position and joint limits.
class MetaSkeletonStateSpaceSaver
{
public:
Expand All @@ -32,6 +32,8 @@ class MetaSkeletonStateSpaceSaver
private:
MetaSkeletonStateSpacePtr mSpace;
Eigen::VectorXd mPositions;
Eigen::VectorXd mPositionLowerLimits;
Eigen::VectorXd mPositionUpperLimits;
};

} // namespace dart
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17 changes: 16 additions & 1 deletion include/aikido/statespace/dart/detail/MetaSkeletonStateSpaceSaver-impl.hpp
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Expand Up @@ -6,6 +6,8 @@ MetaSkeletonStateSpaceSaver::MetaSkeletonStateSpaceSaver(
MetaSkeletonStateSpacePtr _space)
: mSpace(std::move(_space))
, mPositions(mSpace->getMetaSkeleton()->getPositions())
, mPositionLowerLimits(mSpace->getMetaSkeleton()->getPositionLowerLimits())
, mPositionUpperLimits(mSpace->getMetaSkeleton()->getPositionUpperLimits())
{
}

Expand All @@ -14,9 +16,22 @@ MetaSkeletonStateSpaceSaver::~MetaSkeletonStateSpaceSaver()
if (mPositions.size() != mSpace->getMetaSkeleton()->getNumDofs())
{
std::cerr << "[MetaSkeletonStateSpaceSaver] The number of DOFs in the "
<< "MetaSkeleton does not match the saved state.";
<< "MetaSkeleton does not match the saved position.";
}
if (mPositionLowerLimits.size() != mSpace->getMetaSkeleton()->getNumDofs())
{
std::cerr << "[MetaSkeletonStateSpaceSaver] The number of DOFs in the "
<< "MetaSkeleton does not match the saved joint lower limits.";
}
if (mPositionUpperLimits.size() != mSpace->getMetaSkeleton()->getNumDofs())
{
std::cerr << "[MetaSkeletonStateSpaceSaver] The number of DOFs in the "
<< "MetaSkeleton does not match the saved joint upper limits.";
}

mSpace->getMetaSkeleton()->setPositions(mPositions);
mSpace->getMetaSkeleton()->setPositionLowerLimits(mPositionLowerLimits);
mSpace->getMetaSkeleton()->setPositionUpperLimits(mPositionUpperLimits);
}

} // namespace dart
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