Class to define twist in cartesian space as 3D linear and angular velocity vectors. More...

#include <CartesianTwist.hpp>

Inheritance diagram for state_representation::CartesianTwist:

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

const Eigen::Quaterniond &	get_orientation () const =delete

Eigen::Vector4d	get_orientation_coefficients () const =delete

Eigen::Matrix< double, 7, 1 >	get_pose () const =delete

Eigen::Matrix4d	get_transformation_matrix () 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_position (const Eigen::Vector3d &position)=delete

void	set_position (const std::vector< double > &position)=delete

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

void	set_orientation (const Eigen::Quaterniond &orientation)=delete

void	set_orientation (const Eigen::Vector4d &orientation)=delete

void	set_orientation (const std::vector< double > &orientation)=delete

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

void	set_pose (const Eigen::Vector3d &position, const Eigen::Quaterniond &orientation)=delete

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

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

CartesianState	operator* (const CartesianState &state)=delete

	CartesianTwist ()
	Empty constructor. More...

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

	CartesianTwist (const CartesianTwist &twist)
	Copy constructor. More...

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

	CartesianTwist (const CartesianPose &pose)
	Copy constructor from a CartesianPose by considering that it is equivalent to dividing the pose by 1 second. More...

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

	CartesianTwist (const std::string &name, const Eigen::Vector3d &linear_velocity, const std::string &reference="world")
	Construct a CartesianTwist from a linear velocity given as a vector. More...

	CartesianTwist (const std::string &name, const Eigen::Vector3d &linear_velocity, const Eigen::Vector3d &angular_velocity, const std::string &reference="world")
	Construct a CartesianTwist from a linear velocity and angular velocity given as vectors. More...

	CartesianTwist (const std::string &name, const Eigen::Matrix< double, 6, 1 > &twist, const std::string &reference="world")
	Construct a CartesianTwist from a single 6d twist vector. More...

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

CartesianTwist &	operator+= (const CartesianTwist &twist)
	Overload the += operator. More...

CartesianTwist	operator+ (const CartesianTwist &twist) const
	Overload the + operator with a twist. More...

CartesianTwist &	operator-= (const CartesianTwist &twist)
	Overload the -= operator. More...

CartesianTwist	operator- (const CartesianTwist &twist) const
	Overload the - operator with a twist. More...

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

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

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

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

CartesianTwist &	operator*= (const Eigen::Matrix< double, 6, 6 > &lambda)
	Overload the *= operator with a gain matrix. More...

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

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

void	clamp (double max_linear, double max_angular, double linear_noise_ratio=0, double angular_noise_ratio=0)
	Clamp inplace the magnitude of the twist to the values in argument. More...

CartesianTwist	clamped (double max_linear, double max_angular, double noise_ratio=0, double angular_noise_ratio=0) const
	Return the clamped twist. More...

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

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

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

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

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

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

CartesianTwist	normalized (const CartesianStateVariable &state_variable_type=CartesianStateVariable::TWIST) const
	Compute the normalized twist at the state variable given in argument (default is full twist) 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 CartesianTwist	Zero (const std::string &name, const std::string &reference="world")
	Constructor for the zero twist. More...

static CartesianTwist	Random (const std::string &name, const std::string &reference="world")
	Constructor for a random twist. 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 CartesianTwist &twist)=delete

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

CartesianTwist	operator* (const CartesianState &state, const CartesianTwist &twist)
	Overload the * operator with a CartesianState. More...

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

CartesianTwist	operator* (const Eigen::Matrix< double, 6, 6 > &lambda, const CartesianTwist &twist)
	Overload the * operator with a gain matrix. More...

CartesianPose	operator* (const std::chrono::nanoseconds &dt, const CartesianTwist &twist)
	Overload the * operator with a time period. 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 twist in cartesian space as 3D linear and angular velocity vectors.

Definition at line 15 of file CartesianTwist.hpp.

Constructor & Destructor Documentation

◆ CartesianTwist() [1/9]

state_representation::CartesianTwist::CartesianTwist ( )

explicit

Empty constructor.

Definition at line 7 of file CartesianTwist.cpp.

◆ CartesianTwist() [2/9]

state_representation::CartesianTwist::CartesianTwist	(	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 11 of file CartesianTwist.cpp.

◆ CartesianTwist() [3/9]

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

Copy constructor.

Definition at line 47 of file CartesianTwist.cpp.

◆ CartesianTwist() [4/9]

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

Copy constructor from a CartesianState.

Definition at line 39 of file CartesianTwist.cpp.

◆ CartesianTwist() [5/9]

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

Copy constructor from a CartesianPose by considering that it is equivalent to dividing the pose by 1 second.

Definition at line 50 of file CartesianTwist.cpp.

◆ CartesianTwist() [6/9]

state_representation::CartesianTwist::CartesianTwist ( const CartesianAcceleration & acceleration )

Copy constructor from a CartesianAcceleration by considering that it is a twist over 1 second.

Definition at line 52 of file CartesianTwist.cpp.

◆ CartesianTwist() [7/9]

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

explicit

Construct a CartesianTwist from a linear velocity given as a vector.

Definition at line 16 of file CartesianTwist.cpp.

◆ CartesianTwist() [8/9]

state_representation::CartesianTwist::CartesianTwist	(	const std::string &	name,
		const Eigen::Vector3d &	linear_velocity,
		const Eigen::Vector3d &	angular_velocity,
		const std::string &	reference = `"world"`
	)

explicit

Construct a CartesianTwist from a linear velocity and angular velocity given as vectors.

Definition at line 23 of file CartesianTwist.cpp.

◆ CartesianTwist() [9/9]

state_representation::CartesianTwist::CartesianTwist	(	const std::string &	name,
		const Eigen::Matrix< double, 6, 1 > &	twist,
		const std::string &	reference = `"world"`
	)

explicit

Construct a CartesianTwist from a single 6d twist vector.

Definition at line 32 of file CartesianTwist.cpp.

Member Function Documentation

◆ clamp()

void state_representation::CartesianTwist::clamp	(	double	max_linear,
		double	max_angular,
		double	linear_noise_ratio = `0`,
		double	angular_noise_ratio = `0`
	)

Clamp inplace the magnitude of the twist to the values in argument.

Parameters

max_linear	the maximum magnitude of the linear velocity
max_angular	the maximum magnitude of the angular velocity
linear_noise_ratio	if provided, this value will be used to apply a deadzone under which the linear velocity will be set to 0
angular_noise_ratio	if provided, this value will be used to apply a deadzone under which the angular velocity will be set to 0

Definition at line 148 of file CartesianTwist.cpp.

◆ clamped()

CartesianTwist state_representation::CartesianTwist::clamped	(	double	max_linear,
		double	max_angular,
		double	noise_ratio = `0`,
		double	angular_noise_ratio = `0`
	)		const

Return the clamped twist.

Parameters

max_linear	the maximum magnitude of the linear velocity
max_angular	the maximum magnitude of the angular velocity
noise_ratio	if provided, this value will be used to apply a deadzone under which the linear velocity will be set to 0
angular_noise_ratio	if provided, this value will be used to apply a deadzone under which the angular velocity will be set to 0

Returns: the clamped twist

Definition at line 157 of file CartesianTwist.cpp.

◆ copy()

CartesianTwist state_representation::CartesianTwist::copy ( ) const

Return a copy of the CartesianTwist.

Returns: the copy

Definition at line 165 of file CartesianTwist.cpp.

◆ data()

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

overridevirtual

Returns the twist data as an Eigen vector.

Returns: the twist data vector

Reimplemented from state_representation::CartesianState.

Definition at line 170 of file CartesianTwist.cpp.

◆ inverse()

CartesianTwist state_representation::CartesianTwist::inverse ( ) const

Compute the inverse of the current CartesianTwist.

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

Definition at line 186 of file CartesianTwist.cpp.

◆ normalized()

CartesianTwist state_representation::CartesianTwist::normalized ( const CartesianStateVariable & state_variable_type = CartesianStateVariable::TWIST ) const

inline

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

Parameters

state_variable_type the type of state variable to compute the norms on

Returns: the normalized twist

Definition at line 327 of file CartesianTwist.hpp.

◆ norms()

std::vector< double > state_representation::CartesianTwist::norms ( const CartesianStateVariable & state_variable_type = CartesianStateVariable::TWIST ) const

inlineoverridevirtual

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

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 323 of file CartesianTwist.hpp.

◆ operator*() [1/2]

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

Overload the * operator with a time period.

Parameters

dt	the time period to multiply with

Returns: the CartesianPose corresponding to the displacement over the time period

Definition at line 112 of file CartesianTwist.cpp.

◆ operator*() [2/2]

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

Overload the * operator with a scalar.

Parameters

lambda the scalar to multiply with

Returns: the CartesianTwist multiplied by lambda

Definition at line 88 of file CartesianTwist.cpp.

◆ operator*=() [1/2]

CartesianTwist & state_representation::CartesianTwist::operator*= ( const Eigen::Matrix< double, 6, 6 > & lambda )

Overload the *= operator with a gain matrix.

Parameters

lambda the matrix to multiply with

Returns: the CartesianTwist multiplied by lambda

Definition at line 101 of file CartesianTwist.cpp.

◆ operator*=() [2/2]

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

Overload the *= operator with a scalar.

Parameters

lambda the scalar to multiply with

Returns: the CartesianTwist multiplied by lambda

Definition at line 83 of file CartesianTwist.cpp.

◆ operator+()

CartesianTwist state_representation::CartesianTwist::operator+ ( const CartesianTwist & twist ) const

Overload the + operator with a twist.

Parameters

twist CartesianTwist to add to

Returns: the current CartesianTwist added the CartesianTwist given in argument

Definition at line 70 of file CartesianTwist.cpp.

◆ operator+=()

CartesianTwist & state_representation::CartesianTwist::operator+= ( const CartesianTwist & twist )

Overload the += operator.

Parameters

twist CartesianTwist to add to

Returns: the current CartesianTwist added the CartesianTwist given in argument

Definition at line 65 of file CartesianTwist.cpp.

◆ operator-()

CartesianTwist state_representation::CartesianTwist::operator- ( const CartesianTwist & twist ) const

Overload the - operator with a twist.

Parameters

twist CartesianTwist to subtract

Returns: the current CartesianTwist minus the CartesianTwist given in argument

Definition at line 79 of file CartesianTwist.cpp.

◆ operator-=()

CartesianTwist & state_representation::CartesianTwist::operator-= ( const CartesianTwist & twist )

Overload the -= operator.

Parameters

twist CartesianTwist to subtract

Returns: the current CartesianTwist minus the CartesianTwist given in argument

Definition at line 74 of file CartesianTwist.cpp.

◆ operator/() [1/2]

CartesianAcceleration state_representation::CartesianTwist::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 CartesianAcceleration

Definition at line 135 of file CartesianTwist.cpp.

◆ operator/() [2/2]

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

Overload the / operator with a scalar.

Parameters

lambda the scalar to divide with

Returns: the CartesianTwist divided by lambda

Definition at line 97 of file CartesianTwist.cpp.

◆ operator/=()

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

Overload the /= operator with a scalar.

Parameters

lambda the scalar to divide with

Returns: the CartesianTwist divided by lambda

Definition at line 92 of file CartesianTwist.cpp.

◆ operator=()

CartesianTwist & state_representation::CartesianTwist::operator= ( const CartesianTwist & twist )

default

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

Parameters

twist the twist with value to assign

Returns: reference to the current twist with new values

◆ Random()

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

static

Constructor for a random twist.

Parameters

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

Returns: CartesianTwist random twist

Definition at line 59 of file CartesianTwist.cpp.

◆ set_data() [1/2]

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

overridevirtual

Set the twist data from an Eigen vector.

Parameters

the	twist data vector

Reimplemented from state_representation::CartesianState.

Definition at line 174 of file CartesianTwist.cpp.

◆ set_data() [2/2]

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

overridevirtual

Set the twist data from a std vector.

Parameters

the	twist data vector

Reimplemented from state_representation::CartesianState.

Definition at line 182 of file CartesianTwist.cpp.

◆ Zero()

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

static

Constructor for the zero twist.

Parameters

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

Returns: CartesianTwist with zero values

Definition at line 55 of file CartesianTwist.cpp.

Friends And Related Function Documentation

◆ operator* [1/4]

CartesianTwist operator*	(	const CartesianState &	state,
		const CartesianTwist &	twist
	)

friend

Overload the * operator with a CartesianState.

Parameters

state the state to multiply with

Returns: the CartesianTwist provided multiplied by the state

Definition at line 205 of file CartesianTwist.cpp.

◆ operator* [2/4]

CartesianTwist operator*	(	const Eigen::Matrix< double, 6, 6 > &	lambda,
		const CartesianTwist &	twist
	)

friend

Overload the * operator with a gain matrix.

Parameters

lambda the matrix to multiply with

Returns: the CartesianTwist provided multiplied by lambda

Definition at line 213 of file CartesianTwist.cpp.

◆ operator* [3/4]

CartesianPose operator*	(	const std::chrono::nanoseconds &	dt,
		const CartesianTwist &	twist
	)

friend

Overload the * operator with a time period.

Parameters

dt	the time period to multiply with

Returns: the CartesianPose corresponding to the displacement over the time period

Definition at line 219 of file CartesianTwist.cpp.

◆ operator* [4/4]

CartesianTwist operator*	(	double	lambda,
		const CartesianTwist &	twist
	)

friend

Overload the * operator with a scalar.

Parameters

lambda the scalar to multiply with

Returns: the CartesianTwist provided multiplied by lambda

Definition at line 209 of file CartesianTwist.cpp.

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const CartesianTwist &	twist
	)

friend

Overload the ostream operator for printing.

Parameters

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

Returns: the appended ostream

Definition at line 190 of file CartesianTwist.cpp.

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

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

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CartesianTwist() [1/9]

◆ CartesianTwist() [2/9]

◆ CartesianTwist() [3/9]

◆ CartesianTwist() [4/9]

◆ CartesianTwist() [5/9]

◆ CartesianTwist() [6/9]

◆ CartesianTwist() [7/9]

◆ CartesianTwist() [8/9]

◆ CartesianTwist() [9/9]

Member Function Documentation

◆ clamp()

◆ clamped()

◆ copy()

◆ data()

◆ inverse()

◆ normalized()

◆ norms()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ 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]

◆ Zero()

Friends And Related Function Documentation

◆ operator* [1/4]

◆ operator* [2/4]

◆ operator* [3/4]

◆ operator* [4/4]

◆ operator<<