Renaming constraint files

aikido/include/aikido/constraint/FrameConstraintAdaptor.hpp → aikido/include/aikido/constraint/FrameDifferentiable.hpp

@@ -1,5 +1,5 @@
-#ifndef AIKIDO_CONSTRAINT_FRAMECONSTRAINTADAPTOR_HPP_
-#define AIKIDO_CONSTRAINT_FRAMECONSTRAINTADAPTOR_HPP_
+#ifndef AIKIDO_CONSTRAINT_FRAMEDIFFERENTIABLE_HPP_
+#define AIKIDO_CONSTRAINT_FRAMEDIFFERENTIABLE_HPP_
 
 #include <dart/dynamics/dynamics.h>
 #include "Differentiable.hpp"
@@ -16,7 +16,7 @@ namespace constraint{
 ///     1) Differentiable
 ///     2) in SE3.
 ///     2) constrains _jacobianNode's pose in World Frame.
-class FrameConstraintAdaptor: public Differentiable
+class FrameDifferentiable: public Differentiable
 {
 public:
 
@@ -26,7 +26,7 @@ class FrameConstraintAdaptor: public Differentiable
   /// \param _jacobianNode The frame being constrained.
   /// \param _poseConstraint Constraint on _jacobian. This should be 
   ///        in SE3.
-  FrameConstraintAdaptor(
+  FrameDifferentiable(
     statespace::dart::MetaSkeletonStateSpacePtr _metaSkeletonStateSpace,
     dart::dynamics::ConstJacobianNodePtr _jacobianNode,
     DifferentiablePtr _poseConstraint);

aikido/include/aikido/constraint/FramePairConstraintAdaptor.hpp → aikido/include/aikido/constraint/FramePairDifferentiable.hpp

@@ -1,5 +1,5 @@
-#ifndef AIKIDO_CONSTRAINT_FRAMEPAIRCONSTRAINTADAPTOR_HPP_
-#define AIKIDO_CONSTRAINT_FRAMEPAIRCONSTRAINTADAPTOR_HPP_
+#ifndef AIKIDO_CONSTRAINT_FRAMEPAIRDIFFERENTIABLE_HPP_
+#define AIKIDO_CONSTRAINT_FRAMEPAIRDIFFERENTIABLE_HPP_
 
 #include <dart/dynamics/dynamics.h>
 #include "Differentiable.hpp"
@@ -15,7 +15,7 @@ namespace constraint{
 ///     1) Differentiable
 ///     2) in SE3.
 ///     2) constrains _jacobianNodeTarget's pose in jacobianNodeBase's frame.
-class FramePairConstraintAdaptor: public Differentiable
+class FramePairDifferentiable: public Differentiable
 {
 public:
 
@@ -27,7 +27,7 @@ class FramePairConstraintAdaptor: public Differentiable
   /// \param _jacobianNodeBase The base frame for this constraint.
   /// \param _relPoseConstraint Relative pose constraint on _jacobianNodeTarget
   ///        w.r.t. _jacobianNodeBase. 
-  FramePairConstraintAdaptor(
+  FramePairDifferentiable(
     statespace::dart::MetaSkeletonStateSpacePtr _metaSkeletonStateSpace,
     dart::dynamics::ConstJacobianNodePtr _jacobianNodeTarget,
     dart::dynamics::ConstJacobianNodePtr _jacobianNodeBase,

aikido/include/aikido/constraint/FkTestable.hpp → aikido/include/aikido/constraint/FrameTestable.hpp

@@ -1,5 +1,5 @@
-#ifndef AIKIDO_CONSTRAINT_FKTESTABLE_HPP_
-#define AIKIDO_CONSTRAINT_FKTESTABLE_HPP_
+#ifndef AIKIDO_CONSTRAINT_FRAMETESTABLE_HPP_
+#define AIKIDO_CONSTRAINT_FRAMETESTABLE_HPP_
 
 #include "Testable.hpp"
 #include "../statespace/SE3.hpp"
@@ -12,14 +12,14 @@ namespace constraint {
 /// Transforms a SE(3) Testable into a MetaSkeleton-Testable by
 /// performing forward kinematics on a configuration (metaskeleton state)
 /// and checking the resulting SE(3) pose of the asked frame.
-class FkTestable : public Testable
+class FrameTestable : public Testable
 {
 public:
   /// Creat a Testable for the MetaSkeleton.
   /// \param _stateSpace Configuration space of the metaskeleton.
   /// \param _frame Frame constrained by _poseConstraint.
   /// \param _poseConstraint A testable constraint on _frame.
-  FkTestable(statespace::dart::MetaSkeletonStateSpacePtr _stateSpace,
+  FrameTestable(statespace::dart::MetaSkeletonStateSpacePtr _stateSpace,
              dart::dynamics::ConstJacobianNodePtr _frame,
              TestablePtr _poseConstraint);
 

aikido/include/aikido/constraint/DifferentiableProjector.hpp → aikido/include/aikido/constraint/NewtonsMethodProjectable.hpp

@@ -1,5 +1,5 @@
-#ifndef AIKIDO_CONSTRAINT_DIFFERENTIABLEPROJECTOR_HPP_
-#define AIKIDO_CONSTRAINT_DIFFERENTIABLEPROJECTOR_HPP_
+#ifndef AIKIDO_CONSTRAINT_NEWTONSMETHODPROJECTABLE_HPP_
+#define AIKIDO_CONSTRAINT_NEWTONSMETHODPROJECTABLE_HPP_
 
 #include <Eigen/Dense>
 #include "Projectable.hpp"
@@ -9,7 +9,7 @@ namespace aikido {
 namespace constraint{
 
 /// Uses Newton's method to project state.
-class DifferentiableProjector : public Projectable
+class NewtonsMethodProjectable : public Projectable
 {
 public:
 
@@ -22,7 +22,7 @@ class DifferentiableProjector : public Projectable
   ///        dimension.
   /// \param _maxIteration Max iteration for Newton's method.
   /// \param _minStepSize Minimum step size to be taken in Newton's method.
-  DifferentiableProjector(
+  NewtonsMethodProjectable(
     DifferentiablePtr _differentiable,
     std::vector<double> _tolerance,
     int _maxIteration=1000,

aikido/include/aikido/constraint/TestableSubSpace.hpp → aikido/include/aikido/constraint/TestableSubspace.hpp

@@ -10,7 +10,7 @@ namespace constraint {
 /// Testable for CompoundStates. 
 /// It takes in a set of Testables and test i-th substate on 
 /// the i-th Testable.
-class TestableSubSpace : public Testable
+class TestableSubspace : public Testable
 {
 public:
 
@@ -19,7 +19,7 @@ class TestableSubSpace : public Testable
   /// \param _constraints Set of testables. The size of _constraints
   ///        should match the number of subspaces in _stateSpace.
   ///        i-th constraint applies to i-th subspace.
-  TestableSubSpace(
+  TestableSubspace(
       std::shared_ptr<statespace::CartesianProduct> _stateSpace,
       std::vector<TestablePtr> _constraints);
 

aikido/include/aikido/constraint/detail/dart.hpp

@@ -6,7 +6,7 @@
 #include "../../statespace/dart/SE2Joint.hpp"
 #include "../../statespace/dart/SE3Joint.hpp"
 #include "../../util/metaprogramming.hpp"
-#include "../uniform/RealVectorBoxConstraint.hpp"
+#include "../uniform/RnBoxConstraint.hpp"
 #include "../uniform/SO2UniformSampler.hpp"
 #include "../uniform/SO3UniformSampler.hpp"
 #include "../Satisfied.hpp"
@@ -80,7 +80,7 @@ std::unique_ptr<OutputConstraint> createBoxConstraint(
   const auto joint = _stateSpace->getJoint();
 
   if (isLimited(joint))
-    return dart::common::make_unique<statespace::RealVectorBoxConstraint>(
+    return dart::common::make_unique<statespace::RnBoxConstraint>(
       std::move(_stateSpace), std::move(_rng),
       getPositionLowerLimits(joint), getPositionUpperLimits(joint));
   else
@@ -138,7 +138,7 @@ struct createSampleableFor_impl<statespace::dart::RnJoint>
     const auto joint = _stateSpace->getJoint();
 
     if (isLimited(joint))
-      return dart::common::make_unique<statespace::RealVectorBoxConstraint>(
+      return dart::common::make_unique<statespace::RnBoxConstraint>(
         std::move(_stateSpace), std::move(_rng),
         getPositionLowerLimits(joint), getPositionUpperLimits(joint));
     else

aikido/include/aikido/constraint/uniform/RealVectorBoxConstraint.hpp → aikido/include/aikido/constraint/uniform/RnBoxConstraint.hpp

@@ -1,5 +1,5 @@
-#ifndef AIKIDO_STATESPACE_REALVECTORSTATESPACESAMPLEABLECONSTRAINT_H_
-#define AIKIDO_STATESPACE_REALVECTORSTATESPACESAMPLEABLECONSTRAINT_H_
+#ifndef AIKIDO_STATESPACE_RNBOXCONSTRAINT_H_
+#define AIKIDO_STATESPACE_RNBOXCONSTRAINT_H_
 #include "../../statespace/Rn.hpp"
 #include "../Differentiable.hpp"
 #include "../Projectable.hpp"
@@ -11,7 +11,7 @@ namespace statespace {
 
 /// A BoxConstraint on RealVectorStates.
 /// For each dimension, this constraint has lowerLimit and upperLimit. 
-class RealVectorBoxConstraint
+class RnBoxConstraint
   : public constraint::Differentiable
   , public constraint::Projectable
   , public constraint::Sampleable
@@ -25,7 +25,7 @@ class RealVectorBoxConstraint
   ///        The length of this vector should match the dimension of _space.
   /// \param _upperLimits Upper limits.
   ///        The length of this vector should match the dimension of _space. 
-  RealVectorBoxConstraint(
+  RnBoxConstraint(
     std::shared_ptr<statespace::Rn> _space,
     std::unique_ptr<util::RNG> _rng,
     const Eigen::VectorXd& _lowerLimits,

aikido/src/constraint/CMakeLists.txt

@@ -1,15 +1,15 @@
 aikido_add_library("${PROJECT_NAME}_constraint"
-  uniform/RealVectorBoxConstraint.cpp
+  uniform/RnBoxConstraint.cpp
   uniform/SO2UniformSampler.cpp
   uniform/SO3UniformSampler.cpp
   Differentiable.cpp
-  DifferentiableProjector.cpp
+  NewtonsMethodProjectable.cpp
   DifferentiableSubSpace.cpp
   FiniteSampleable.cpp
   CyclicSampleable.cpp
-  FkTestable.cpp
-  FrameConstraintAdaptor.cpp
-  FramePairConstraintAdaptor.cpp
+  FrameTestable.cpp
+  FrameDifferentiable.cpp
+  FramePairDifferentiable.cpp
   InverseKinematicsSampleable.cpp
   NonColliding.cpp
   Projectable.cpp
@@ -20,7 +20,7 @@ aikido_add_library("${PROJECT_NAME}_constraint"
   DifferentiableIntersection.cpp
   TSR.cpp
   TestableIntersection.cpp
-  TestableSubSpace.cpp
+  TestableSubspace.cpp
   dart.cpp
 )
 target_link_libraries("${PROJECT_NAME}_constraint"

aikido/src/constraint/FrameConstraintAdaptor.cpp → aikido/src/constraint/FrameDifferentiable.cpp

@@ -1,12 +1,12 @@
-#include <aikido/constraint/FrameConstraintAdaptor.hpp>
+#include <aikido/constraint/FrameDifferentiable.hpp>
 #include <aikido/statespace/SE3.hpp>
 
 namespace aikido {
 namespace constraint {
 
 
 //=============================================================================
-FrameConstraintAdaptor::FrameConstraintAdaptor(
+FrameDifferentiable::FrameDifferentiable(
   statespace::dart::MetaSkeletonStateSpacePtr _metaSkeletonStateSpace,
   dart::dynamics::ConstJacobianNodePtr _jacobianNode,
   DifferentiablePtr _poseConstraint)
@@ -41,13 +41,13 @@ FrameConstraintAdaptor::FrameConstraintAdaptor(
 }
 
 //=============================================================================
-size_t FrameConstraintAdaptor::getConstraintDimension() const
+size_t FrameDifferentiable::getConstraintDimension() const
 {
   return mPoseConstraint->getConstraintDimension();
 }
 
 //=============================================================================
-Eigen::VectorXd FrameConstraintAdaptor::getValue(
+Eigen::VectorXd FrameDifferentiable::getValue(
   const statespace::StateSpace::State* _s) const
 {
   using State = statespace::CartesianProduct::State;
@@ -64,7 +64,7 @@ Eigen::VectorXd FrameConstraintAdaptor::getValue(
 }
 
 //=============================================================================
-Eigen::MatrixXd FrameConstraintAdaptor::getJacobian(
+Eigen::MatrixXd FrameDifferentiable::getJacobian(
   const statespace::StateSpace::State* _s) const
 {
   using State = statespace::CartesianProduct::State;
@@ -90,7 +90,7 @@ Eigen::MatrixXd FrameConstraintAdaptor::getJacobian(
 }
 
 //=============================================================================
-std::pair<Eigen::VectorXd, Eigen::MatrixXd> FrameConstraintAdaptor::getValueAndJacobian(
+std::pair<Eigen::VectorXd, Eigen::MatrixXd> FrameDifferentiable::getValueAndJacobian(
     const statespace::StateSpace::State* _s) const 
 {
   using State = statespace::CartesianProduct::State;
@@ -119,14 +119,14 @@ std::pair<Eigen::VectorXd, Eigen::MatrixXd> FrameConstraintAdaptor::getValueAndJ
 }
 
 //=============================================================================
-std::vector<ConstraintType> FrameConstraintAdaptor::getConstraintTypes() const
+std::vector<ConstraintType> FrameDifferentiable::getConstraintTypes() const
 {
   return mPoseConstraint->getConstraintTypes();
 }
 
 
 //=============================================================================
-statespace::StateSpacePtr FrameConstraintAdaptor::getStateSpace() const
+statespace::StateSpacePtr FrameDifferentiable::getStateSpace() const
 {
   return mMetaSkeletonStateSpace;
 }

aikido/src/constraint/FramePairConstraintAdaptor.cpp → aikido/src/constraint/FramePairDifferentiable.cpp

@@ -1,12 +1,12 @@
-#include <aikido/constraint/FramePairConstraintAdaptor.hpp>
+#include <aikido/constraint/FramePairDifferentiable.hpp>
 #include <aikido/statespace/SE3.hpp>
 
 namespace aikido {
 namespace constraint {
 
 
 //=============================================================================
-FramePairConstraintAdaptor::FramePairConstraintAdaptor(
+FramePairDifferentiable::FramePairDifferentiable(
     statespace::dart::MetaSkeletonStateSpacePtr _metaSkeletonStateSpace,
     dart::dynamics::ConstJacobianNodePtr _jacobianNode1,
     dart::dynamics::ConstJacobianNodePtr _jacobianNode2,
@@ -47,13 +47,13 @@ FramePairConstraintAdaptor::FramePairConstraintAdaptor(
 }
 
 //=============================================================================
-size_t FramePairConstraintAdaptor::getConstraintDimension() const
+size_t FramePairDifferentiable::getConstraintDimension() const
 {
   return mRelPoseConstraint->getConstraintDimension();
 }
 
 //=============================================================================
-Eigen::VectorXd FramePairConstraintAdaptor::getValue(
+Eigen::VectorXd FramePairDifferentiable::getValue(
   const statespace::StateSpace::State* _s) const
 {
   using State = statespace::CartesianProduct::State;
@@ -73,7 +73,7 @@ Eigen::VectorXd FramePairConstraintAdaptor::getValue(
 
 
 //=============================================================================
-Eigen::MatrixXd FramePairConstraintAdaptor::getJacobian(
+Eigen::MatrixXd FramePairDifferentiable::getJacobian(
   const statespace::StateSpace::State* _s) const
 {
   using State = statespace::CartesianProduct::State;
@@ -106,7 +106,7 @@ Eigen::MatrixXd FramePairConstraintAdaptor::getJacobian(
 
 
 //=============================================================================
-std::pair<Eigen::VectorXd, Eigen::MatrixXd> FramePairConstraintAdaptor::getValueAndJacobian(
+std::pair<Eigen::VectorXd, Eigen::MatrixXd> FramePairDifferentiable::getValueAndJacobian(
     const statespace::StateSpace::State* _s) const
 {
   using State = statespace::CartesianProduct::State;
@@ -144,14 +144,14 @@ std::pair<Eigen::VectorXd, Eigen::MatrixXd> FramePairConstraintAdaptor::getValue
 
 
 //=============================================================================
-std::vector<ConstraintType> FramePairConstraintAdaptor::getConstraintTypes() const
+std::vector<ConstraintType> FramePairDifferentiable::getConstraintTypes() const
 {
   return mRelPoseConstraint->getConstraintTypes();
 }
 
 
 //=============================================================================
-statespace::StateSpacePtr FramePairConstraintAdaptor::getStateSpace() const
+statespace::StateSpacePtr FramePairDifferentiable::getStateSpace() const
 {
   return mMetaSkeletonStateSpace;
 }

aikido/src/constraint/FkTestable.cpp → aikido/src/constraint/FrameTestable.cpp

@@ -1,10 +1,10 @@
-#include <aikido/constraint/FkTestable.hpp>
+#include <aikido/constraint/FrameTestable.hpp>
 
 namespace aikido {
 namespace constraint {
 
 //=============================================================================
-FkTestable::FkTestable(statespace::dart::MetaSkeletonStateSpacePtr _stateSpace,
+FrameTestable::FrameTestable(statespace::dart::MetaSkeletonStateSpacePtr _stateSpace,
                        dart::dynamics::ConstJacobianNodePtr _frame,
                        TestablePtr _poseConstraint)
 : mStateSpace(std::move(_stateSpace))
@@ -33,7 +33,7 @@ FkTestable::FkTestable(statespace::dart::MetaSkeletonStateSpacePtr _stateSpace,
 }
 
 //=============================================================================
-bool FkTestable::isSatisfied(const statespace::StateSpace::State* _state) const
+bool FrameTestable::isSatisfied(const statespace::StateSpace::State* _state) const
 {
   // Set the state
   auto state 
@@ -48,7 +48,7 @@ bool FkTestable::isSatisfied(const statespace::StateSpace::State* _state) const
 }
 
 //=============================================================================
-std::shared_ptr<statespace::StateSpace> FkTestable::getStateSpace() const
+std::shared_ptr<statespace::StateSpace> FrameTestable::getStateSpace() const
 {
   return mStateSpace;
 }