Class to define CartesianPose in cartesian space as 3D position and quaternion based orientation. More...

#include <CartesianPose.hpp>

Inheritance diagram for state_representation::CartesianPose:

Public Member Functions
const Eigen::Vector3d &	get_linear_velocity () const =delete

const Eigen::Vector3d &	get_angular_velocity () const =delete

Eigen::Matrix< double, 6, 1 >	get_twist () const =delete

const Eigen::Vector3d &	get_linear_acceleration () const =delete

const Eigen::Vector3d &	get_angular_acceleration () const =delete

Eigen::Matrix< double, 6, 1 >	get_acceleration () const =delete

const Eigen::Vector3d &	get_force () const =delete

const Eigen::Vector3d &	get_torque () const =delete

Eigen::Matrix< double, 6, 1 >	get_wrench () const =delete

void	set_linear_velocity (const Eigen::Vector3d &linear_velocity)=delete

void	set_linear_velocity (const std::vector< double > &linear_velocity)=delete

void	set_linear_velocity (const double &x, const double &y, const double &z)=delete

void	set_angular_velocity (const Eigen::Vector3d &angular_velocity)=delete

void	set_angular_velocity (const std::vector< double > &angular_velocity)=delete

void	set_angular_velocity (const double &x, const double &y, const double &z)=delete

void	set_twist (const Eigen::Matrix< double, 6, 1 > &twist)=delete

void	set_twist (const std::vector< double > &twist)=delete

void	set_linear_acceleration (const Eigen::Vector3d &linear_acceleration)=delete

void	set_linear_acceleration (const std::vector< double > &linear_acceleration)=delete

void	set_linear_acceleration (const double &x, const double &y, const double &z)=delete

void	set_angular_acceleration (const Eigen::Vector3d &angular_acceleration)=delete

void	set_angular_acceleration (const std::vector< double > &angular_acceleration)=delete

void	set_angular_acceleration (const double &x, const double &y, const double &z)=delete

void	set_acceleration (const Eigen::Matrix< double, 6, 1 > &acceleration)=delete

void	set_acceleration (const std::vector< double > &acceleration)=delete

void	set_force (const Eigen::Vector3d &force)=delete

void	set_force (const std::vector< double > &force)=delete

void	set_force (const double &x, const double &y, const double &z)=delete

void	set_torque (const Eigen::Vector3d &torque)=delete

void	set_torque (const std::vector< double > &torque)=delete

void	set_torque (const double &x, const double &y, const double &z)=delete

void	set_wrench (const Eigen::Matrix< double, 6, 1 > &wrench)=delete

void	set_wrench (const std::vector< double > &wrench)=delete

CartesianState	*operator=** (const CartesianState &state)=delete

	CartesianPose ()
	Empty constructor. More...

	CartesianPose (const std::string &name, const std::string &reference="world")
	Constructor with name and reference frame provided. More...

	CartesianPose (const CartesianPose &pose)
	Copy constructor. More...

	CartesianPose (const CartesianState &state)
	Copy constructor from a CartesianState. More...

	CartesianPose (const CartesianTwist &twist)
	Copy constructor from a CartesianTwist by considering that it is a displacement over 1 second. More...

	CartesianPose (const std::string &name, const Eigen::Vector3d &position, const std::string &reference="world")
	Constructor of a CartesianPose from a position given as a vector of coordinates. More...

	CartesianPose (const std::string &name, double x, double y, double z, const std::string &reference="world")
	Constructor of a CartesianPose from a position given as three scalar coordinates. More...

	CartesianPose (const std::string &name, const Eigen::Quaterniond &orientation, const std::string &reference="world")
	Constructor of a CartesianPose from a quaternion. More...

	CartesianPose (const std::string &name, const Eigen::Vector3d &position, const Eigen::Quaterniond &orientation, const std::string &reference="world")
	Constructor of a CartesianPose from a position given as a vector of coordinates and a quaternion. More...

CartesianPose &	operator= (const CartesianPose &pose)=default
	Copy assignment operator that have to be defined to the custom assignment operator. More...

Eigen::Vector3d	operator* (const Eigen::Vector3d &vector) const
	Overload the * operator for a vector input. More...

CartesianPose &	operator*= (const CartesianPose &pose)
	Overload the *= operator. More...

CartesianPose	operator* (const CartesianPose &pose) const
	Overload the * operator. More...

CartesianState	operator* (const CartesianState &state) const
	Overload the * operator. More...

CartesianTwist	operator* (const CartesianTwist &twist) const
	Overload the * operator. More...

CartesianAcceleration	operator* (const CartesianAcceleration &acceleration) const
	Overload the * operator. More...

CartesianWrench	operator* (const CartesianWrench &wrench) const
	Overload the * operator. More...

CartesianPose &	operator*= (double lambda)
	Overload the *= operator with a scalar. More...

CartesianPose	operator* (double lambda) const
	Overload the * operator with a scalar. More...

CartesianPose &	operator/= (double lambda)
	Overload the /= operator with a scalar. More...

CartesianPose	operator/ (double lambda) const
	Overload the / operator with a scalar. More...

CartesianPose &	operator+= (const CartesianPose &pose)
	Overload the += operator. More...

CartesianPose	operator+ (const CartesianPose &pose) const
	Overload the + operator with a pose. More...

CartesianPose &	operator-= (const CartesianPose &pose)
	Overload the -= operator. More...

CartesianPose	operator- (const CartesianPose &pose) const
	Overload the - operator with a pose. More...

CartesianTwist	operator/ (const std::chrono::nanoseconds &dt) const
	Overload the / operator with a time period. More...

CartesianPose	copy () const
	Return a copy of the CartesianPose. More...

Eigen::VectorXd	data () const override
	Returns the pose data as an Eigen vector. More...

void	set_data (const Eigen::VectorXd &data) override
	Set the pose data from an Eigen vector. More...

void	set_data (const std::vector< double > &data) override
	Set the pose data from a std vector. More...

std::vector< double >	norms (const CartesianStateVariable &state_variable_type=CartesianStateVariable::POSE) const override
	Compute the norms of the state variable specified by the input type (default is full pose) More...

CartesianPose	inverse () const
	Compute the inverse of the current CartesianPose. More...

CartesianPose	normalized (const CartesianStateVariable &state_variable_type=CartesianStateVariable::POSE) const
	Compute the normalized pose at the state variable given in argument (default is full pose) More...

Public Member Functions inherited from state_representation::CartesianState
	CartesianState ()
	Empty constructor. More...

	CartesianState (const std::string &name, const std::string &reference="world")
	Constructor with name and reference frame provided. More...

	CartesianState (const CartesianState &state)=default
	Copy constructor of a CartesianState.

CartesianState &	operator= (const CartesianState &state)
	Copy assignment operator that have to be defined to the custom assignment operator. More...

const Eigen::Vector3d &	get_position () const
	Getter of the position attribute. More...

const Eigen::Quaterniond &	get_orientation () const
	Getter of the orientation attribute. More...

Eigen::Vector4d	get_orientation_coefficients () const
	Getter of the orientation attribute as Vector4d of coefficients Beware, quaternion coefficients are returned using the (w, x, y, z) convention. More...

Eigen::Matrix< double, 7, 1 >	get_pose () const
	Getter of a pose from position and orientation attributes. More...

Eigen::Matrix4d	get_transformation_matrix () const
	Getter of a pose from position and orientation attributes. More...

const Eigen::Vector3d &	get_linear_velocity () const
	Getter of the linear velocity attribute. More...

const Eigen::Vector3d &	get_angular_velocity () const
	Getter of the angular velocity attribute. More...

Eigen::Matrix< double, 6, 1 >	get_twist () const
	Getter of the 6d twist from linear and angular velocity attributes. More...

const Eigen::Vector3d &	get_linear_acceleration () const
	Getter of the linear acceleration attribute. More...

const Eigen::Vector3d &	get_angular_acceleration () const
	Getter of the angular acceleration attribute. More...

Eigen::Matrix< double, 6, 1 >	get_acceleration () const
	Getter of the 6d acceleration from linear and angular acceleration attributes. More...

const Eigen::Vector3d &	get_force () const
	Getter of the force attribute. More...

const Eigen::Vector3d &	get_torque () const
	Getter of the torque attribute. More...

Eigen::Matrix< double, 6, 1 >	get_wrench () const
	Getter of the 6d wrench from force and torque attributes. More...

void	set_position (const Eigen::Vector3d &position)
	Setter of the position. More...

void	set_position (const std::vector< double > &position)
	Setter of the position from a std vector. More...

void	set_position (const double &x, const double &y, const double &z)
	Setter of the position from three scalar coordinates. More...

void	set_orientation (const Eigen::Quaterniond &orientation)
	Setter of the orientation. More...

void	set_orientation (const Eigen::Vector4d &orientation)
	Setter of the orientation from a 4d vector. More...

void	set_orientation (const std::vector< double > &orientation)
	Setter of the orientation from a std vector. More...

void	set_orientation (const double &w, const double &x, const double &y, const double &z)
	Setter of the orientation from four scalar coefficients (w, x, y, z) More...

void	set_pose (const Eigen::Vector3d &position, const Eigen::Quaterniond &orientation)
	Setter of the pose from both position and orientation. More...

void	set_pose (const Eigen::Matrix< double, 7, 1 > &pose)
	Setter of the pose from both position and orientation as Eigen 7d vector. More...

void	set_pose (const std::vector< double > &pose)
	Setter of the pose from both position and orientation as std vector. More...

void	set_linear_velocity (const Eigen::Vector3d &linear_velocity)
	Setter of the linear velocity attribute. More...

void	set_linear_velocity (const std::vector< double > &linear_velocity)
	Setter of the linear velocity from a std vector. More...

void	set_linear_velocity (const double &x, const double &y, const double &z)
	Setter of the linear velocity from three scalar coordinates. More...

void	set_angular_velocity (const Eigen::Vector3d &angular_velocity)
	Setter of the angular velocity attribute. More...

void	set_angular_velocity (const std::vector< double > &angular_velocity)
	Setter of the angular velocity from a std vector. More...

void	set_angular_velocity (const double &x, const double &y, const double &z)
	Setter of the angular velocity from three scalar coordinates. More...

void	set_twist (const Eigen::Matrix< double, 6, 1 > &twist)
	Setter of the linear and angular velocities from a 6d twist vector. More...

void	set_twist (const std::vector< double > &twist)
	Setter of the linear and angular velocities from a std vector. More...

void	set_linear_acceleration (const Eigen::Vector3d &linear_acceleration)
	Setter of the linear acceleration attribute. More...

void	set_linear_acceleration (const std::vector< double > &linear_acceleration)
	Setter of the linear acceleration from a std vector. More...

void	set_linear_acceleration (const double &x, const double &y, const double &z)
	Setter of the linear acceleration from three scalar coordinates. More...

void	set_angular_acceleration (const Eigen::Vector3d &angular_acceleration)
	Setter of the angular velocity attribute. More...

void	set_angular_acceleration (const std::vector< double > &angular_acceleration)
	Setter of the angular acceleration from a std vector. More...

void	set_angular_acceleration (const double &x, const double &y, const double &z)
	Setter of the angular acceleration from three scalar coordinates. More...

void	set_acceleration (const Eigen::Matrix< double, 6, 1 > &acceleration)
	Setter of the linear and angular acceleration from a 6d acceleration vector. More...

void	set_acceleration (const std::vector< double > &acceleration)
	Setter of the linear and angular acceleration from a std vector. More...

void	set_force (const Eigen::Vector3d &force)
	Setter of the force attribute. More...

void	set_force (const std::vector< double > &force)
	Setter of the force from a std vector. More...

void	set_force (const double &x, const double &y, const double &z)
	Setter of the force from three scalar coordinates. More...

void	set_torque (const Eigen::Vector3d &torque)
	Setter of the torque attribute. More...

void	set_torque (const std::vector< double > &torque)
	Setter of the torque from a std vector. More...

void	set_torque (const double &x, const double &y, const double &z)
	Setter of the torque from three scalar coordinates. More...

void	set_wrench (const Eigen::Matrix< double, 6, 1 > &wrench)
	Setter of the force and torque from a 6d wrench vector. More...

void	set_wrench (const std::vector< double > &wrench)
	Setter of the force and torque from a std vector. More...

void	initialize () override
	Initialize the CartesianState to a zero value. More...

void	set_zero ()
	Set the State to a zero value. More...

void	clamp_state_variable (double max_norm, const CartesianStateVariable &state_variable_type, double noise_ratio=0)
	Clamp inplace the norm of the a specific state variable. More...

CartesianState	copy () const
	Return a copy of the CartesianState. More...

virtual Eigen::VectorXd	data () const
	Return the data as the concatenation of all the state variables in a single vector. More...

Eigen::ArrayXd	array () const
	Return the data vector as an Eigen Array. More...

virtual void	set_data (const Eigen::VectorXd &data) override
	Set the data of the state from all the state variables in a single Eigen vector. More...

virtual void	set_data (const std::vector< double > &data) override
	Set the data of the state from all the state variables in a single std vector. More...

CartesianState &	operator*= (const CartesianState &state)
	Overload the *= operator with another state by deriving the equations of motions. More...

CartesianState	operator* (const CartesianState &state) const
	Overload the * operator with another state by deriving the equations of motions. More...

CartesianState &	operator*= (double lambda)
	Overload the *= operator with a scalar. More...

CartesianState	operator* (double lambda) const
	Overload the * operator with a scalar. More...

CartesianState &	operator/= (double lambda)
	Overload the /= operator with a scalar. More...

CartesianState	operator/ (double lambda) const
	Overload the / operator with a scalar. More...

CartesianState &	operator+= (const CartesianState &state)
	Overload the += operator. More...

CartesianState	operator+ (const CartesianState &state) const
	Overload the + operator. More...

CartesianState &	operator-= (const CartesianState &state)
	Overload the -= operator. More...

CartesianState	operator- (const CartesianState &state) const
	Overload the - operator. More...

CartesianState	inverse () const
	Compute the inverse of the current CartesianState. More...

double	dist (const CartesianState &state, const CartesianStateVariable &state_variable_type=CartesianStateVariable::ALL) const
	Compute the distance to another state as the sum of distances between each features. More...

virtual std::vector< double >	norms (const CartesianStateVariable &state_variable_type=CartesianStateVariable::ALL) const
	Compute the norms of the state variable specified by the input type (default is full state) More...

void	normalize (const CartesianStateVariable &state_variable_type=CartesianStateVariable::ALL)
	Normalize inplace the state at the state variable given in argument (default is full state) More...

CartesianState	normalized (const CartesianStateVariable &state_variable_type=CartesianStateVariable::ALL) const
	Compute the normalized state at the state variable given in argument (default is full state) More...

std::vector< double >	to_std_vector () const
	Return the state as a std vector. More...

Public Member Functions inherited from state_representation::SpatialState
	SpatialState ()
	Empty constructor. More...

	SpatialState (const StateType &type)
	Empty constructor with a specific state type. More...

	SpatialState (const StateType &type, const std::string &name, const std::string &reference_frame="world", const bool &empty=true)
	Constructor with name and reference frame specification. More...

	SpatialState (const SpatialState &state)=default
	Copy constructor from another SpatialState.

SpatialState &	operator= (const SpatialState &state)
	Copy assignment operator that have to be defined to the custom assignment operator. More...

const std::string &	get_reference_frame () const
	Getter of the reference frame as const reference. More...

virtual void	set_reference_frame (const std::string &reference_frame)
	Setter of the reference frame. More...

virtual bool	is_compatible (const State &state) const override
	Check if the state is compatible for operations with the state given as argument. More...

Public Member Functions inherited from state_representation::State
	State ()
	Empty constructor. More...

	State (const StateType &type)
	Constructor only specifying the type of the state from the StateType enumeration. More...

	State (const StateType &type, const std::string &name, const bool &empty=true)
	Constructor with name specification. More...

	State (const State &state)
	Copy constructor from another State. More...

virtual	~State ()=default
	Virtual destructor.

State &	operator= (const State &state)
	Copy assignment operator that have to be defined to the custom assignment operator. More...

const StateType &	get_type () const
	Getter of the type attribute. More...

bool	is_empty () const
	Getter of the empty attribute. More...

void	set_empty (bool empty=true)
	Setter of the empty attribute. More...

void	set_filled ()
	Setter of the empty attribute to false and also reset the timestamp. More...

const std::chrono::time_point< std::chrono::steady_clock > &	get_timestamp () const
	Getter of the timestamp attribute. More...

void	set_timestamp (const std::chrono::time_point< std::chrono::steady_clock > &timepoint)
	Setter of the timestamp attribute. More...

void	reset_timestamp ()
	Reset the timestamp attribute to now. More...

const std::string &	get_name () const
	Getter of the name as const reference. More...

virtual void	set_name (const std::string &name)
	Setter of the name. More...

template<typename DurationT >
bool	is_deprecated (const std::chrono::duration< int64_t, DurationT > &time_delay)
	Check if the state is deprecated given a certain time delay. More...

virtual bool	is_compatible (const State &state) const
	Check if the state is compatible for operations with the state given as argument. More...

virtual void	initialize ()
	Initialize the State to a zero value. More...

virtual void	set_data (const Eigen::VectorXd &data)
	Set the data of the state from a single Eigen vector. More...

virtual void	set_data (const std::vector< double > &data)
	Set the data of the state from a single std vector. More...

virtual void	set_data (const Eigen::MatrixXd &data)
	Set the data of the state from an Eigen matrix. More...

	operator bool () const noexcept
	Boolean operator for the truthiness of a state. More...

Static Public Member Functions
static CartesianPose	Identity (const std::string &name, const std::string &reference="world")
	Constructor for the identity pose. More...

static CartesianPose	Random (const std::string &name, const std::string &reference="world")
	Constructor for a random pose. More...

Static Public Member Functions inherited from state_representation::CartesianState
static CartesianState	Identity (const std::string &name, const std::string &reference="world")
	Constructor for the identity CartesianState (identity pose and 0 for the rest) More...

static CartesianState	Random (const std::string &name, const std::string &reference="world")
	Constructor for a random state. More...

Friends
CartesianState	*operator=** (const CartesianState &state, const CartesianPose &pose)=delete

std::ostream &	operator<< (std::ostream &os, const CartesianPose &pose)
	Overload the ostream operator for printing. More...

CartesianPose	operator* (const CartesianState &state, const CartesianPose &pose)
	Overload the * operator with a CartesianState. More...

CartesianPose	operator* (double lambda, const CartesianPose &pose)
	Overload the * operator with a scalar. More...

Additional Inherited Members
Protected Member Functions inherited from state_representation::CartesianState
Eigen::VectorXd	get_state_variable (const CartesianStateVariable &state_variable_type) const
	Getter of the variable value corresponding to the input. More...

void	set_state_variable (const Eigen::VectorXd &new_value, const CartesianStateVariable &state_variable_type)
	Setter of the variable value corresponding to the input. More...

Protected Member Functions inherited from state_representation::State
void	set_type (const StateType &type)
	Override the state type. More...

Detailed Description

Class to define CartesianPose in cartesian space as 3D position and quaternion based orientation.

Definition at line 17 of file CartesianPose.hpp.

Constructor & Destructor Documentation

◆ CartesianPose() [1/9]

state_representation::CartesianPose::CartesianPose ( )

explicit

Empty constructor.

Definition at line 8 of file CartesianPose.cpp.

◆ CartesianPose() [2/9]

state_representation::CartesianPose::CartesianPose	(	const std::string &	name,
		const std::string &	reference = `"world"`
	)

explicit

Constructor with name and reference frame provided.

Parameters

name	the name of the state
reference	the name of the reference frame (default is "world")

Definition at line 12 of file CartesianPose.cpp.

◆ CartesianPose() [3/9]

state_representation::CartesianPose::CartesianPose ( const CartesianPose & pose )

Copy constructor.

Definition at line 53 of file CartesianPose.cpp.

◆ CartesianPose() [4/9]

state_representation::CartesianPose::CartesianPose ( const CartesianState & state )

Copy constructor from a CartesianState.

Definition at line 45 of file CartesianPose.cpp.

◆ CartesianPose() [5/9]

state_representation::CartesianPose::CartesianPose ( const CartesianTwist & twist )

Copy constructor from a CartesianTwist by considering that it is a displacement over 1 second.

Definition at line 55 of file CartesianPose.cpp.

◆ CartesianPose() [6/9]

state_representation::CartesianPose::CartesianPose	(	const std::string &	name,
		const Eigen::Vector3d &	position,
		const std::string &	reference = `"world"`
	)

explicit

Constructor of a CartesianPose from a position given as a vector of coordinates.

Parameters

name	the name of the state
position	the position data given as Eigen vector
reference	the name of the reference frame (default is "world")

Definition at line 16 of file CartesianPose.cpp.

◆ CartesianPose() [7/9]

state_representation::CartesianPose::CartesianPose	(	const std::string &	name,
		double	x,
		double	y,
		double	z,
		const std::string &	reference = `"world"`
	)

explicit

Constructor of a CartesianPose from a position given as three scalar coordinates.

Parameters

name	the name of the state
x	the x coordinate of the position
y	the y coordinate of the position
z	the z coordinate of the position
reference	the name of the reference frame (default is "world")

Definition at line 22 of file CartesianPose.cpp.

◆ CartesianPose() [8/9]

state_representation::CartesianPose::CartesianPose	(	const std::string &	name,
		const Eigen::Quaterniond &	orientation,
		const std::string &	reference = `"world"`
	)

explicit

Constructor of a CartesianPose from a quaternion.

Parameters

name	the name of the state
orientation	the orientation given as Eigen quaternion
reference	the name of the reference frame (default is "world")

Definition at line 29 of file CartesianPose.cpp.

◆ CartesianPose() [9/9]

state_representation::CartesianPose::CartesianPose	(	const std::string &	name,
		const Eigen::Vector3d &	position,
		const Eigen::Quaterniond &	orientation,
		const std::string &	reference = `"world"`
	)

explicit

Constructor of a CartesianPose from a position given as a vector of coordinates and a quaternion.

Parameters

name	the name of the state
position	the position data given as Eigen vector
orientation	the orientation given as Eigen quaternion
reference	the name of the reference frame (default is "world")

Definition at line 36 of file CartesianPose.cpp.

Member Function Documentation

◆ copy()

CartesianPose state_representation::CartesianPose::copy ( ) const

Return a copy of the CartesianPose.

Returns: the copy

Definition at line 151 of file CartesianPose.cpp.

◆ data()

Eigen::VectorXd state_representation::CartesianPose::data ( ) const

overridevirtual

Returns the pose data as an Eigen vector.

Returns: the pose data vector

Reimplemented from state_representation::CartesianState.

Definition at line 156 of file CartesianPose.cpp.

◆ Identity()

CartesianPose state_representation::CartesianPose::Identity	(	const std::string &	name,
		const std::string &	reference = `"world"`
	)

static

Constructor for the identity pose.

Parameters

name	the name of the state
reference	the name of the reference frame (default is "world")

Returns: CartesianPose identity pose

Definition at line 57 of file CartesianPose.cpp.

◆ inverse()

CartesianPose state_representation::CartesianPose::inverse ( ) const

Compute the inverse of the current CartesianPose.

Returns: the inverse corresponding to b_S_f (assuming this is f_S_b)

Definition at line 172 of file CartesianPose.cpp.

◆ normalized()

CartesianPose state_representation::CartesianPose::normalized ( const CartesianStateVariable & state_variable_type = CartesianStateVariable::POSE ) const

inline

Compute the normalized pose at the state variable given in argument (default is full pose)

Parameters

state_variable_type the type of state variable to compute the norms on

Returns: the normalized pose

Definition at line 337 of file CartesianPose.hpp.

◆ norms()

std::vector< double > state_representation::CartesianPose::norms ( const CartesianStateVariable & state_variable_type = CartesianStateVariable::POSE ) const

inlineoverridevirtual

Compute the norms of the state variable specified by the input type (default is full pose)

Parameters

state_variable_type the type of state variable to compute the norms on

Returns: the norms of the state variables as a vector

Reimplemented from state_representation::CartesianState.

Definition at line 333 of file CartesianPose.hpp.

◆ operator*() [1/7]

CartesianAcceleration state_representation::CartesianPose::operator* ( const CartesianAcceleration & acceleration ) const

Overload the * operator.

Parameters

acceleration CartesianAcceleration to multiply with

Returns: the current CartesianPose multiplied by the CartesianAcceleration given in argument

Definition at line 86 of file CartesianPose.cpp.

◆ operator*() [2/7]

CartesianPose state_representation::CartesianPose::operator* ( const CartesianPose & pose ) const

Overload the * operator.

Parameters

pose	CartesianPose to multiply with

Returns: the current CartesianPose multiplied by the CartesianPose given in argument

Definition at line 74 of file CartesianPose.cpp.

◆ operator*() [3/7]

CartesianState state_representation::CartesianPose::operator* ( const CartesianState & state ) const

Overload the * operator.

Parameters

state CartesianState to multiply with

Returns: the current CartesianPose multiplied by the CartesianState given in argument

Definition at line 78 of file CartesianPose.cpp.

◆ operator*() [4/7]

CartesianTwist state_representation::CartesianPose::operator* ( const CartesianTwist & twist ) const

Overload the * operator.

Parameters

twist CartesianTwist to multiply with

Returns: the current CartesianPose multiplied by the CartesianTwist given in argument

Definition at line 82 of file CartesianPose.cpp.

◆ operator*() [5/7]

CartesianWrench state_representation::CartesianPose::operator* ( const CartesianWrench & wrench ) const

Overload the * operator.

Parameters

wrench CartesianWrench to multiply with

Returns: the current CartesianPose multiplied by the CartesianWrench given in argument

Definition at line 90 of file CartesianPose.cpp.

◆ operator*() [6/7]

Eigen::Vector3d state_representation::CartesianPose::operator* ( const Eigen::Vector3d & vector ) const

Overload the * operator for a vector input.

Parameters

vector vector to multiply with, representing either a position, velocity or acceleration

Returns: the vector multiplied by the current CartesianPose

Definition at line 65 of file CartesianPose.cpp.

◆ operator*() [7/7]

CartesianPose state_representation::CartesianPose::operator* ( double lambda ) const

Overload the * operator with a scalar.

Parameters

lambda the scalar to multiply with

Returns: the CartesianPose multiplied by lambda

Definition at line 99 of file CartesianPose.cpp.

◆ operator*=() [1/2]

CartesianPose & state_representation::CartesianPose::operator*= ( const CartesianPose & pose )

Overload the *= operator.

Parameters

pose	CartesianPose to multiply with

Returns: the current CartesianPose multiplied by the CartesianPose given in argument

Definition at line 69 of file CartesianPose.cpp.

◆ operator*=() [2/2]

CartesianPose & state_representation::CartesianPose::operator*= ( double lambda )

Overload the *= operator with a scalar.

Parameters

lambda the scalar to multiply with

Returns: the CartesianPose multiplied by lambda

Definition at line 94 of file CartesianPose.cpp.

◆ operator+()

CartesianPose state_representation::CartesianPose::operator+ ( const CartesianPose & pose ) const

Overload the + operator with a pose.

Parameters

pose	CartesianPose to add to

Returns: the current CartesianPose added the CartesianPose given in argument

Definition at line 117 of file CartesianPose.cpp.

◆ operator+=()

CartesianPose & state_representation::CartesianPose::operator+= ( const CartesianPose & pose )

Overload the += operator.

Parameters

pose	CartesianPose to add to

Returns: the current CartesianPose added the CartesianPose given in argument

Definition at line 112 of file CartesianPose.cpp.

◆ operator-()

CartesianPose state_representation::CartesianPose::operator- ( const CartesianPose & pose ) const

Overload the - operator with a pose.

Parameters

pose	CartesianPose to subtract

Returns: the current CartesianPose minus the CartesianPose given in argument

Definition at line 126 of file CartesianPose.cpp.

◆ operator-=()

CartesianPose & state_representation::CartesianPose::operator-= ( const CartesianPose & pose )

Overload the -= operator.

Parameters

pose	CartesianPose to subtract

Returns: the current CartesianPose minus the CartesianPose given in argument

Definition at line 121 of file CartesianPose.cpp.

◆ operator/() [1/2]

CartesianTwist state_representation::CartesianPose::operator/ ( const std::chrono::nanoseconds & dt ) const

Overload the / operator with a time period.

Parameters

dt	the time period to divide by

Returns: the corresponding CartesianTwist

Definition at line 130 of file CartesianPose.cpp.

◆ operator/() [2/2]

CartesianPose state_representation::CartesianPose::operator/ ( double lambda ) const

Overload the / operator with a scalar.

Parameters

lambda the scalar to divide with

Returns: the CartesianPose divided by lambda

Definition at line 108 of file CartesianPose.cpp.

◆ operator/=()

CartesianPose & state_representation::CartesianPose::operator/= ( double lambda )

Overload the /= operator with a scalar.

Parameters

lambda the scalar to divide with

Returns: the CartesianPose divided by lambda

Definition at line 103 of file CartesianPose.cpp.

◆ operator=()

CartesianPose & state_representation::CartesianPose::operator= ( const CartesianPose & pose )

default

Copy assignment operator that have to be defined to the custom assignment operator.

Parameters

pose	the pose with value to assign

Returns: reference to the current pose with new values

◆ Random()

CartesianPose state_representation::CartesianPose::Random	(	const std::string &	name,
		const std::string &	reference = `"world"`
	)

static

Constructor for a random pose.

Parameters

name	the name of the state
reference	the name of the reference frame (default is "world")

Returns: CartesianPose random pose

Definition at line 61 of file CartesianPose.cpp.

◆ set_data() [1/2]

void state_representation::CartesianPose::set_data ( const Eigen::VectorXd & data )

overridevirtual

Set the pose data from an Eigen vector.

Parameters

the	pose data vector

Reimplemented from state_representation::CartesianState.

Definition at line 160 of file CartesianPose.cpp.

◆ set_data() [2/2]

void state_representation::CartesianPose::set_data ( const std::vector< double > & data )

overridevirtual

Set the pose data from a std vector.

Parameters

the	pose data vector

Reimplemented from state_representation::CartesianState.

Definition at line 168 of file CartesianPose.cpp.

Friends And Related Function Documentation

◆ operator* [1/2]

CartesianPose operator*	(	const CartesianState &	state,
		const CartesianPose &	pose
	)

friend

Overload the * operator with a CartesianState.

Parameters

state the state to multiply with

Returns: the CartesianPose provided multiplied by the state

Definition at line 197 of file CartesianPose.cpp.

◆ operator* [2/2]

CartesianPose operator*	(	double	lambda,
		const CartesianPose &	pose
	)

friend

Overload the * operator with a scalar.

Parameters

lambda the scalar to multiply with

Returns: the CartesianPose provided multiplied by lambda

Definition at line 201 of file CartesianPose.cpp.

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const CartesianPose &	pose
	)

friend

Overload the ostream operator for printing.

Parameters

os	the ostream to append the string representing the CartesianPose to
CartesianPose	the CartesianPose to print

Returns: the appended ostream

Definition at line 176 of file CartesianPose.cpp.

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

/github/workspace/source/state_representation/include/state_representation/space/cartesian/CartesianPose.hpp
/github/workspace/source/state_representation/src/space/cartesian/CartesianPose.cpp

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CartesianPose() [1/9]

◆ CartesianPose() [2/9]

◆ CartesianPose() [3/9]

◆ CartesianPose() [4/9]

◆ CartesianPose() [5/9]

◆ CartesianPose() [6/9]

◆ CartesianPose() [7/9]

◆ CartesianPose() [8/9]

◆ CartesianPose() [9/9]

Member Function Documentation

◆ copy()

◆ data()

◆ Identity()

◆ inverse()

◆ normalized()

◆ norms()

◆ operator*() [1/7]

◆ operator*() [2/7]

◆ operator*() [3/7]

◆ operator*() [4/7]

◆ operator*() [5/7]

◆ operator*() [6/7]

◆ operator*() [7/7]

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator+=()

◆ operator-()

◆ operator-=()

◆ operator/() [1/2]

◆ operator/() [2/2]

◆ operator/=()

◆ operator=()

◆ Random()

◆ set_data() [1/2]

◆ set_data() [2/2]

Friends And Related Function Documentation

◆ operator* [1/2]

◆ operator* [2/2]

◆ operator<<