Class to represent a state in Dual Quaternion space. More...

#include <DualQuaternionState.hpp>

Inheritance diagram for state_representation::DualQuaternionState:

Public Member Functions
	DualQuaternionState ()
	Empty constructor. More...

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

	DualQuaternionState (const DualQuaternionState &state)
	Copy constructor. More...

	DualQuaternionState (const std::string &name, const Eigen::Quaterniond &primary, const Eigen::Quaterniond &dual, const std::string &reference="world")
	Construct a DualQuaternion from two quaternions. More...

const Eigen::Quaterniond &	get_primary () const
	Getter of the primary attribute. More...

const Eigen::Quaterniond &	get_dual () const
	Getter of the dual attribute. More...

void	set_primary (const Eigen::Quaterniond &primary)
	Setter of the primary attribute. More...

void	set_dual (const Eigen::Quaterniond &dual)
	Setter of the dual attribute. More...

DualQuaternionState &	operator*= (const DualQuaternionState &q)
	Overload the *= operator. More...

const DualQuaternionState	operator* (const DualQuaternionState &p) const
	Overload the * operator. More...

const DualQuaternionState	conjugate () const
	compute the conjugate of the current DualQuaternion More...

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

const DualQuaternionState	copy () const
	Return a copy of the DualQuaternionState. 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...

Friends
const DualQuaternionState	operator* (const float &lambda, const DualQuaternionState &state)
	Overload the * operator with a scalar. More...

const DualQuaternionState	exp (const DualQuaternionState &state)
	overload exp function More...

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

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

Detailed Description

Class to represent a state in Dual Quaternion space.

Definition at line 10 of file DualQuaternionState.hpp.

Constructor & Destructor Documentation

◆ DualQuaternionState() [1/4]

state_representation::DualQuaternionState::DualQuaternionState ( )

explicit

Empty constructor.

Definition at line 4 of file DualQuaternionState.cpp.

◆ DualQuaternionState() [2/4]

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

explicit

Constructor with name and reference frame provided.

name the name of the state

reference the name of the reference frame

Definition at line 7 of file DualQuaternionState.cpp.

◆ DualQuaternionState() [3/4]

state_representation::DualQuaternionState::DualQuaternionState ( const DualQuaternionState & state )

Copy constructor.

Definition at line 12 of file DualQuaternionState.cpp.

◆ DualQuaternionState() [4/4]

state_representation::DualQuaternionState::DualQuaternionState	(	const std::string &	name,
		const Eigen::Quaterniond &	primary,
		const Eigen::Quaterniond &	dual,
		const std::string &	reference = `"world"`
	)

explicit

Construct a DualQuaternion from two quaternions.

Parameters

name	the name of the state
primary	the value of the primary quaternion
dual	the value of the dual quaternion

Definition at line 17 of file DualQuaternionState.cpp.

Member Function Documentation

◆ conjugate()

const DualQuaternionState state_representation::DualQuaternionState::conjugate ( ) const

compute the conjugate of the current DualQuaternion

Returns: the inverse

Definition at line 42 of file DualQuaternionState.cpp.

◆ copy()

const DualQuaternionState state_representation::DualQuaternionState::copy ( ) const

Return a copy of the DualQuaternionState.

Returns: the copy

Definition at line 78 of file DualQuaternionState.cpp.

◆ get_dual()

const Eigen::Quaterniond & state_representation::DualQuaternionState::get_dual ( ) const

inline

Getter of the dual attribute.

Definition at line 122 of file DualQuaternionState.hpp.

◆ get_primary()

const Eigen::Quaterniond & state_representation::DualQuaternionState::get_primary ( ) const

inline

Getter of the primary attribute.

Definition at line 118 of file DualQuaternionState.hpp.

◆ initialize()

void state_representation::DualQuaternionState::initialize ( )

virtual

Initialize the DualQuaternionState to a zero value.

Reimplemented from state_representation::State.

Reimplemented in state_representation::DualQuaternionPose, and state_representation::DualQuaternionTwist.

Definition at line 49 of file DualQuaternionState.cpp.

◆ operator*()

const DualQuaternionState state_representation::DualQuaternionState::operator* ( const DualQuaternionState & p ) const

Overload the * operator.

Parameters

p	DualQuaternionState to multiply with

Returns: the current DualQuaternionState multiply by the DualQuaternionState given in argument

Definition at line 36 of file DualQuaternionState.cpp.

◆ operator*=()

DualQuaternionState & state_representation::DualQuaternionState::operator*= ( const DualQuaternionState & q )

Overload the *= operator.

Parameters

q	DualQuaternion to multiply with

Returns: the current DualQuaternion multiply by the DualQuaternion given in argument

Definition at line 26 of file DualQuaternionState.cpp.

◆ set_dual()

void state_representation::DualQuaternionState::set_dual ( const Eigen::Quaterniond & dual )

inline

Setter of the dual attribute.

Definition at line 131 of file DualQuaternionState.hpp.

◆ set_primary()

void state_representation::DualQuaternionState::set_primary ( const Eigen::Quaterniond & primary )

inline

Setter of the primary attribute.

Definition at line 126 of file DualQuaternionState.hpp.

Friends And Related Function Documentation

◆ exp

const DualQuaternionState exp ( const DualQuaternionState & state )

friend

overload exp function

Parameters

state the DualQuaternion to operate on

Returns: the exponential of the DualQuaternion provided

Definition at line 62 of file DualQuaternionState.cpp.

◆ operator*

const DualQuaternionState operator*	(	const float &	lambda,
		const DualQuaternionState &	state
	)

friend

Overload the * operator with a scalar.

Parameters

lambda the scalar to multiply with

Returns: the DualQuaternionState provided multiply by lambda

Definition at line 55 of file DualQuaternionState.cpp.

◆ operator<<

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

friend

Overload the ostream operator for printing.

Parameters

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

Returns: the appended ostream

Definition at line 83 of file DualQuaternionState.cpp.

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

/github/workspace/source/state_representation/include/state_representation/space/dual_quaternion/DualQuaternionState.hpp
/github/workspace/source/state_representation/src/space/dual_quaternion/DualQuaternionState.cpp

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DualQuaternionState() [1/4]

◆ DualQuaternionState() [2/4]

◆ DualQuaternionState() [3/4]

◆ DualQuaternionState() [4/4]

Member Function Documentation

◆ conjugate()

◆ copy()

◆ get_dual()

◆ get_primary()

◆ initialize()

◆ operator*()

◆ operator*=()

◆ set_dual()

◆ set_primary()

Friends And Related Function Documentation

◆ exp

◆ operator*

◆ operator<<