Class to represent a state in Cartesian space. More...

#include <CartesianState.hpp>

Inheritance diagram for state_representation::CartesianState:

Public Member Functions
	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 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...

Protected Member Functions
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...

Friends
void	swap (CartesianState &state1, CartesianState &state2)
	Swap the values of the two CartesianState. More...

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

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

double	dist (const CartesianState &s1, const CartesianState &s2, const CartesianStateVariable &state_variable_type)
	compute the distance between two CartesianStates More...

Detailed Description

Class to represent a state in Cartesian space.

Definition at line 47 of file CartesianState.hpp.

Constructor & Destructor Documentation

◆ CartesianState() [1/2]

state_representation::CartesianState::CartesianState ( )

explicit

Empty constructor.

Definition at line 9 of file CartesianState.cpp.

◆ CartesianState() [2/2]

state_representation::CartesianState::CartesianState	(	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

Definition at line 13 of file CartesianState.cpp.

Member Function Documentation

◆ array()

Eigen::ArrayXd state_representation::CartesianState::array ( ) const

Return the data vector as an Eigen Array.

Returns: the concatenated data array

Definition at line 329 of file CartesianState.cpp.

◆ clamp_state_variable()

void state_representation::CartesianState::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.

Parameters

max_norm	the maximum norm of the state variable
state_variable_type	name of the variable from the CartesianStateVariable structure to clamp
noise_ratio	if provided, this value will be used to apply a dead zone under which the norm of the state variable will be set to 0

Definition at line 481 of file CartesianState.cpp.

◆ copy()

CartesianState state_representation::CartesianState::copy ( ) const

Return a copy of the CartesianState.

Returns: the copy

Definition at line 312 of file CartesianState.cpp.

◆ data()

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

virtual

Return the data as the concatenation of all the state variables in a single vector.

Returns: the concatenated data vector

Reimplemented in state_representation::CartesianAcceleration, state_representation::CartesianPose, state_representation::CartesianTwist, and state_representation::CartesianWrench.

Definition at line 317 of file CartesianState.cpp.

◆ dist()

double state_representation::CartesianState::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.

Parameters

state	the second state
state_variable_type	name of the variable from the CartesianStateVariable structure to apply the distance on. Default ALL for full distance across all dimensions

Returns: dist the distance value as a double

Definition at line 499 of file CartesianState.cpp.

◆ get_acceleration()

Eigen::Matrix< double, 6, 1 > state_representation::CartesianState::get_acceleration ( ) const

Getter of the 6d acceleration from linear and angular acceleration attributes.

Definition at line 96 of file CartesianState.cpp.

◆ get_angular_acceleration()

const Eigen::Vector3d & state_representation::CartesianState::get_angular_acceleration ( ) const

Getter of the angular acceleration attribute.

Definition at line 92 of file CartesianState.cpp.

◆ get_angular_velocity()

const Eigen::Vector3d & state_representation::CartesianState::get_angular_velocity ( ) const

Getter of the angular velocity attribute.

Definition at line 78 of file CartesianState.cpp.

◆ get_force()

const Eigen::Vector3d & state_representation::CartesianState::get_force ( ) const

Getter of the force attribute.

Definition at line 102 of file CartesianState.cpp.

◆ get_linear_acceleration()

const Eigen::Vector3d & state_representation::CartesianState::get_linear_acceleration ( ) const

Getter of the linear acceleration attribute.

Definition at line 88 of file CartesianState.cpp.

◆ get_linear_velocity()

const Eigen::Vector3d & state_representation::CartesianState::get_linear_velocity ( ) const

Getter of the linear velocity attribute.

Definition at line 74 of file CartesianState.cpp.

◆ get_orientation()

const Eigen::Quaterniond & state_representation::CartesianState::get_orientation ( ) const

Getter of the orientation attribute.

Definition at line 52 of file CartesianState.cpp.

◆ get_orientation_coefficients()

Eigen::Vector4d state_representation::CartesianState::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.

Definition at line 56 of file CartesianState.cpp.

◆ get_pose()

Eigen::Matrix< double, 7, 1 > state_representation::CartesianState::get_pose ( ) const

Getter of a pose from position and orientation attributes.

Returns: the pose as a 7d vector. Beware, quaternion coefficients are returned using the (w, x, y, z) convention

Definition at line 62 of file CartesianState.cpp.

◆ get_position()

const Eigen::Vector3d & state_representation::CartesianState::get_position ( ) const

Getter of the position attribute.

Definition at line 48 of file CartesianState.cpp.

◆ get_state_variable()

Eigen::VectorXd state_representation::CartesianState::get_state_variable ( const CartesianStateVariable & state_variable_type ) const

inlineprotected

Getter of the variable value corresponding to the input.

Parameters

state_variable_type the type of variable to get

Returns: the value of the variable as a vector

Definition at line 618 of file CartesianState.hpp.

◆ get_torque()

const Eigen::Vector3d & state_representation::CartesianState::get_torque ( ) const

Getter of the torque attribute.

Definition at line 106 of file CartesianState.cpp.

◆ get_transformation_matrix()

Eigen::Matrix4d state_representation::CartesianState::get_transformation_matrix ( ) const

Getter of a pose from position and orientation attributes.

Returns: the pose as a 4x4 transformation matrix

Definition at line 68 of file CartesianState.cpp.

◆ get_twist()

Eigen::Matrix< double, 6, 1 > state_representation::CartesianState::get_twist ( ) const

Getter of the 6d twist from linear and angular velocity attributes.

Definition at line 82 of file CartesianState.cpp.

◆ get_wrench()

Eigen::Matrix< double, 6, 1 > state_representation::CartesianState::get_wrench ( ) const

Getter of the 6d wrench from force and torque attributes.

Definition at line 110 of file CartesianState.cpp.

◆ Identity()

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

static

Constructor for the identity CartesianState (identity pose and 0 for the rest)

Parameters

name	the name of the state
reference	the name of the reference frame

Returns: CartesianState identity state

Definition at line 34 of file CartesianState.cpp.

◆ initialize()

void state_representation::CartesianState::initialize ( )

overridevirtual

Initialize the CartesianState to a zero value.

Reimplemented from state_representation::State.

Definition at line 18 of file CartesianState.cpp.

◆ inverse()

CartesianState state_representation::CartesianState::inverse ( ) const

Compute the inverse of the current CartesianState.

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

Definition at line 449 of file CartesianState.cpp.

◆ normalize()

void state_representation::CartesianState::normalize ( const CartesianStateVariable & state_variable_type = CartesianStateVariable::ALL )

Normalize inplace the state at the state variable given in argument (default is full state)

Parameters

state_variable_type the type of state variable to compute the norms on

Definition at line 592 of file CartesianState.cpp.

◆ normalized()

CartesianState state_representation::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)

Parameters

state_variable_type the type of state variable to compute the norms on

Returns: the normalized state

Definition at line 630 of file CartesianState.cpp.

◆ norms()

std::vector< double > state_representation::CartesianState::norms ( const CartesianStateVariable & state_variable_type = CartesianStateVariable::ALL ) const

virtual

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

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 in state_representation::CartesianAcceleration, state_representation::CartesianPose, state_representation::CartesianTwist, and state_representation::CartesianWrench.

Definition at line 552 of file CartesianState.cpp.

◆ operator*() [1/2]

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

Overload the * operator with another state by deriving the equations of motions.

Parameters

state the state to compose with corresponding to b_S_c

Returns: the CartesianState corresponding f_S_c = f_S_b * b_S_c (assuming this is f_S_b)

Definition at line 377 of file CartesianState.cpp.

◆ operator*() [2/2]

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

Overload the * operator with a scalar.

Parameters

lambda the scalar to multiply with

Returns: the CartesianState multiplied by lambda

Definition at line 292 of file CartesianState.cpp.

◆ operator*=() [1/2]

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

Overload the *= operator with another state by deriving the equations of motions.

Parameters

state the state to compose with corresponding to b_S_c

Returns: the CartesianState corresponding f_S_c = f_S_b * b_S_c (assuming this is f_S_b)

Definition at line 333 of file CartesianState.cpp.

◆ operator*=() [2/2]

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

Overload the *= operator with a scalar.

Parameters

lambda the scalar to multiply with

Returns: the CartesianState multiplied by lambda

Definition at line 274 of file CartesianState.cpp.

◆ operator+()

CartesianState state_representation::CartesianState::operator+ ( const CartesianState & state ) const

Overload the + operator.

Parameters

state CartesianState to add

Returns: the current CartesianState added the CartesianState given in argument

Definition at line 410 of file CartesianState.cpp.

◆ operator+=()

CartesianState & state_representation::CartesianState::operator+= ( const CartesianState & state )

Overload the += operator.

Parameters

state CartesianState to add

Returns: the current CartesianState added the CartesianState given in argument

Definition at line 383 of file CartesianState.cpp.

◆ operator-()

CartesianState state_representation::CartesianState::operator- ( const CartesianState & state ) const

Overload the - operator.

Parameters

state CartesianState to subtract

Returns: the current CartesianState minus the CartesianState given in argument

Definition at line 443 of file CartesianState.cpp.

◆ operator-=()

CartesianState & state_representation::CartesianState::operator-= ( const CartesianState & state )

Overload the -= operator.

Parameters

state CartesianState to subtract

Returns: the current CartesianState minus the CartesianState given in argument

Definition at line 416 of file CartesianState.cpp.

◆ operator/()

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

Overload the / operator with a scalar.

Parameters

lambda the scalar to divide with

Returns: the CartesianState divided by lambda

Definition at line 306 of file CartesianState.cpp.

◆ operator/=()

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

Overload the /= operator with a scalar.

Parameters

lambda the scalar to divide with

Returns: the CartesianState divided by lambda

Definition at line 298 of file CartesianState.cpp.

◆ operator=()

CartesianState & state_representation::CartesianState::operator= ( const CartesianState & state )

inline

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

Parameters

state the state with value to assign

Returns: reference to the current state with new values

Definition at line 612 of file CartesianState.hpp.

◆ Random()

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

static

Constructor for a random state.

Parameters

name	the name of the state
reference	the name of the reference frame

Returns: CartesianState random state

Definition at line 41 of file CartesianState.cpp.

◆ set_acceleration() [1/2]

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

Setter of the linear and angular acceleration from a 6d acceleration vector.

Definition at line 226 of file CartesianState.cpp.

◆ set_acceleration() [2/2]

void state_representation::CartesianState::set_acceleration ( const std::vector< double > & acceleration )

Setter of the linear and angular acceleration from a std vector.

Definition at line 230 of file CartesianState.cpp.

◆ set_angular_acceleration() [1/3]

void state_representation::CartesianState::set_angular_acceleration	(	const double &	x,
		const double &	y,
		const double &	z
	)

Setter of the angular acceleration from three scalar coordinates.

Definition at line 222 of file CartesianState.cpp.

◆ set_angular_acceleration() [2/3]

void state_representation::CartesianState::set_angular_acceleration ( const Eigen::Vector3d & angular_acceleration )

Setter of the angular velocity attribute.

Definition at line 214 of file CartesianState.cpp.

◆ set_angular_acceleration() [3/3]

void state_representation::CartesianState::set_angular_acceleration ( const std::vector< double > & angular_acceleration )

Setter of the angular acceleration from a std vector.

Definition at line 218 of file CartesianState.cpp.

◆ set_angular_velocity() [1/3]

void state_representation::CartesianState::set_angular_velocity	(	const double &	x,
		const double &	y,
		const double &	z
	)

Setter of the angular velocity from three scalar coordinates.

Definition at line 186 of file CartesianState.cpp.

◆ set_angular_velocity() [2/3]

void state_representation::CartesianState::set_angular_velocity ( const Eigen::Vector3d & angular_velocity )

Setter of the angular velocity attribute.

Definition at line 178 of file CartesianState.cpp.

◆ set_angular_velocity() [3/3]

void state_representation::CartesianState::set_angular_velocity ( const std::vector< double > & angular_velocity )

Setter of the angular velocity from a std vector.

Definition at line 182 of file CartesianState.cpp.

◆ set_data() [1/2]

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

overridevirtual

Set the data of the state from all the state variables in a single Eigen vector.

Parameters

the	concatenated data vector

Reimplemented from state_representation::State.

Reimplemented in state_representation::CartesianAcceleration, state_representation::CartesianPose, state_representation::CartesianTwist, and state_representation::CartesianWrench.

Definition at line 321 of file CartesianState.cpp.

◆ set_data() [2/2]

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

overridevirtual

Set the data of the state from all the state variables in a single std vector.

Parameters

the	concatenated data vector

Reimplemented from state_representation::State.

Reimplemented in state_representation::CartesianAcceleration, state_representation::CartesianPose, state_representation::CartesianTwist, and state_representation::CartesianWrench.

Definition at line 325 of file CartesianState.cpp.

◆ set_force() [1/3]

void state_representation::CartesianState::set_force	(	const double &	x,
		const double &	y,
		const double &	z
	)

Setter of the force from three scalar coordinates.

Definition at line 246 of file CartesianState.cpp.

◆ set_force() [2/3]

void state_representation::CartesianState::set_force ( const Eigen::Vector3d & force )

Setter of the force attribute.

Definition at line 238 of file CartesianState.cpp.

◆ set_force() [3/3]

void state_representation::CartesianState::set_force ( const std::vector< double > & force )

Setter of the force from a std vector.

Definition at line 242 of file CartesianState.cpp.

◆ set_linear_acceleration() [1/3]

void state_representation::CartesianState::set_linear_acceleration	(	const double &	x,
		const double &	y,
		const double &	z
	)

Setter of the linear acceleration from three scalar coordinates.

Definition at line 210 of file CartesianState.cpp.

◆ set_linear_acceleration() [2/3]

void state_representation::CartesianState::set_linear_acceleration ( const Eigen::Vector3d & linear_acceleration )

Setter of the linear acceleration attribute.

Definition at line 202 of file CartesianState.cpp.

◆ set_linear_acceleration() [3/3]

void state_representation::CartesianState::set_linear_acceleration ( const std::vector< double > & linear_acceleration )

Setter of the linear acceleration from a std vector.

Definition at line 206 of file CartesianState.cpp.

◆ set_linear_velocity() [1/3]

void state_representation::CartesianState::set_linear_velocity	(	const double &	x,
		const double &	y,
		const double &	z
	)

Setter of the linear velocity from three scalar coordinates.

Definition at line 174 of file CartesianState.cpp.

◆ set_linear_velocity() [2/3]

void state_representation::CartesianState::set_linear_velocity ( const Eigen::Vector3d & linear_velocity )

Setter of the linear velocity attribute.

Definition at line 166 of file CartesianState.cpp.

◆ set_linear_velocity() [3/3]

void state_representation::CartesianState::set_linear_velocity ( const std::vector< double > & linear_velocity )

Setter of the linear velocity from a std vector.

Definition at line 170 of file CartesianState.cpp.

◆ set_orientation() [1/4]

void state_representation::CartesianState::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)

Definition at line 144 of file CartesianState.cpp.

◆ set_orientation() [2/4]

void state_representation::CartesianState::set_orientation ( const Eigen::Quaterniond & orientation )

Setter of the orientation.

Definition at line 128 of file CartesianState.cpp.

◆ set_orientation() [3/4]

void state_representation::CartesianState::set_orientation ( const Eigen::Vector4d & orientation )

Setter of the orientation from a 4d vector.

Parameters

the	orientation coefficients as a 4d vector. Beware, quaternion coefficients uses the (w, x, y, z) convention

Definition at line 133 of file CartesianState.cpp.

◆ set_orientation() [4/4]

void state_representation::CartesianState::set_orientation ( const std::vector< double > & orientation )

Setter of the orientation from a std vector.

Parameters

the	orientation coefficients as a 4d vector. Beware, quaternion coefficients uses the (w, x, y, z) convention

Definition at line 137 of file CartesianState.cpp.

◆ set_pose() [1/3]

void state_representation::CartesianState::set_pose ( const Eigen::Matrix< double, 7, 1 > & pose )

Setter of the pose from both position and orientation as Eigen 7d vector.

Parameters

pose	the pose as a 7d vector. Beware, quaternion coefficients uses the (w, x, y, z) convention

Definition at line 153 of file CartesianState.cpp.

◆ set_pose() [2/3]

void state_representation::CartesianState::set_pose	(	const Eigen::Vector3d &	position,
		const Eigen::Quaterniond &	orientation
	)

Setter of the pose from both position and orientation.

Parameters

position	the position
orientation	the orientation

Definition at line 148 of file CartesianState.cpp.

◆ set_pose() [3/3]

void state_representation::CartesianState::set_pose ( const std::vector< double > & pose )

Setter of the pose from both position and orientation as std vector.

Parameters

pose	the pose as a 7d vector. Beware, quaternion coefficients uses the (w, x, y, z) convention

Definition at line 158 of file CartesianState.cpp.

◆ set_position() [1/3]

void state_representation::CartesianState::set_position	(	const double &	x,
		const double &	y,
		const double &	z
	)

Setter of the position from three scalar coordinates.

Definition at line 124 of file CartesianState.cpp.

◆ set_position() [2/3]

void state_representation::CartesianState::set_position ( const Eigen::Vector3d & position )

Setter of the position.

Definition at line 116 of file CartesianState.cpp.

◆ set_position() [3/3]

void state_representation::CartesianState::set_position ( const std::vector< double > & position )

Setter of the position from a std vector.

Definition at line 120 of file CartesianState.cpp.

◆ set_state_variable()

void state_representation::CartesianState::set_state_variable	(	const Eigen::VectorXd &	new_value,
		const CartesianStateVariable &	state_variable_type
	)

inlineprotected

Setter of the variable value corresponding to the input.

Parameters

new_value	the new value of the variable
state_variable_type	the type of variable to get

Definition at line 697 of file CartesianState.hpp.

◆ set_torque() [1/3]

void state_representation::CartesianState::set_torque	(	const double &	x,
		const double &	y,
		const double &	z
	)

Setter of the torque from three scalar coordinates.

Definition at line 258 of file CartesianState.cpp.

◆ set_torque() [2/3]

void state_representation::CartesianState::set_torque ( const Eigen::Vector3d & torque )

Setter of the torque attribute.

Definition at line 250 of file CartesianState.cpp.

◆ set_torque() [3/3]

void state_representation::CartesianState::set_torque ( const std::vector< double > & torque )

Setter of the torque from a std vector.

Definition at line 254 of file CartesianState.cpp.

◆ set_twist() [1/2]

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

Setter of the linear and angular velocities from a 6d twist vector.

Definition at line 190 of file CartesianState.cpp.

◆ set_twist() [2/2]

void state_representation::CartesianState::set_twist ( const std::vector< double > & twist )

Setter of the linear and angular velocities from a std vector.

Definition at line 194 of file CartesianState.cpp.

◆ set_wrench() [1/2]

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

Setter of the force and torque from a 6d wrench vector.

Definition at line 262 of file CartesianState.cpp.

◆ set_wrench() [2/2]

void state_representation::CartesianState::set_wrench ( const std::vector< double > & wrench )

Setter of the force and torque from a std vector.

Definition at line 266 of file CartesianState.cpp.

◆ set_zero()

void state_representation::CartesianState::set_zero ( )

Set the State to a zero value.

Definition at line 23 of file CartesianState.cpp.

◆ to_std_vector()

std::vector< double > state_representation::CartesianState::to_std_vector ( ) const

inline

Return the state as a std vector.

Returns: std::vector<double> the state vector as a std vector

Definition at line 758 of file CartesianState.hpp.

Friends And Related Function Documentation

◆ dist

double dist	(	const CartesianState &	s1,
		const CartesianState &	s2,
		const CartesianStateVariable &	state_variable_type = `CartesianStateVariable::ALL`
	)

friend

compute the distance between two CartesianStates

Parameters

s1	the first CartesianState
s2	the second CartesianState
type	of the distance between position, orientation, linear_velocity, etc... default all for full distance across all dimensions

Returns: the distance between the two states

Parameters

s1	the first CartesianState
s2	the second CartesianState
state_variable_type	name of the state variable from the CartesianStateVariable structure to apply the distance on. Default ALL for full distance across all dimensions

Returns: the distance between the two states

Definition at line 679 of file CartesianState.cpp.

◆ operator*

CartesianState operator*	(	double	lambda,
		const CartesianState &	state
	)

friend

Overload the * operator with a scalar.

Parameters

lambda the scalar to multiply with

Returns: the CartesianState provided multiply by lambda

Definition at line 675 of file CartesianState.cpp.

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const CartesianState &	state
	)

friend

Overload the ostream operator for printing.

Parameters

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

Returns: the appended ostream

Definition at line 636 of file CartesianState.cpp.

◆ swap

void swap	(	CartesianState &	state1,
		CartesianState &	state2
	)

friend

Swap the values of the two CartesianState.

Parameters

state1	CartesianState to be swapped with 2
state2	CartesianState to be swapped with 1

Definition at line 600 of file CartesianState.hpp.

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ CartesianState() [1/2]

◆ CartesianState() [2/2]

Member Function Documentation

◆ array()

◆ clamp_state_variable()

◆ copy()

◆ data()

◆ dist()

◆ get_acceleration()

◆ get_angular_acceleration()

◆ get_angular_velocity()

◆ get_force()

◆ get_linear_acceleration()

◆ get_linear_velocity()

◆ get_orientation()

◆ get_orientation_coefficients()

◆ get_pose()

◆ get_position()

◆ get_state_variable()

◆ get_torque()

◆ get_transformation_matrix()

◆ get_twist()

◆ get_wrench()

◆ Identity()

◆ initialize()

◆ inverse()

◆ normalize()

◆ normalized()

◆ norms()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator+=()

◆ operator-()

◆ operator-=()

◆ operator/()

◆ operator/=()

◆ operator=()

◆ Random()

◆ set_acceleration() [1/2]

◆ set_acceleration() [2/2]

◆ set_angular_acceleration() [1/3]

◆ set_angular_acceleration() [2/3]

◆ set_angular_acceleration() [3/3]

◆ set_angular_velocity() [1/3]

◆ set_angular_velocity() [2/3]

◆ set_angular_velocity() [3/3]

◆ set_data() [1/2]

◆ set_data() [2/2]

◆ set_force() [1/3]

◆ set_force() [2/3]

◆ set_force() [3/3]

◆ set_linear_acceleration() [1/3]

◆ set_linear_acceleration() [2/3]

◆ set_linear_acceleration() [3/3]

◆ set_linear_velocity() [1/3]

◆ set_linear_velocity() [2/3]

◆ set_linear_velocity() [3/3]

◆ set_orientation() [1/4]

◆ set_orientation() [2/4]

◆ set_orientation() [3/4]

◆ set_orientation() [4/4]

◆ set_pose() [1/3]

◆ set_pose() [2/3]

◆ set_pose() [3/3]

◆ set_position() [1/3]

◆ set_position() [2/3]

◆ set_position() [3/3]

◆ set_state_variable()

◆ set_torque() [1/3]

◆ set_torque() [2/3]

◆ set_torque() [3/3]