Inheritance diagram for state_representation::Ellipsoid:

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

	Ellipsoid (const std::string &name, const std::string &reference_frame="world")
	Constructor with name but empty state. More...

	Ellipsoid (const Ellipsoid &ellipsoid)
	Copy constructor from another ellipsoid. More...

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

const std::vector< double > &	get_axis_lengths () const
	Getter of the axis lengths. More...

double	get_axis_length (unsigned int index) const
	Getter of the axis length in one direction. More...

void	set_axis_lengths (const std::vector< double > &axis_lengths)
	Setter of the axis lengths. More...

void	set_axis_lengths (unsigned int index, double axis_length)
	Setter of the axis length at given index. More...

double	get_rotation_angle () const
	Getter of the rotation angle. More...

void	set_rotation_angle (double rotation_angle)
	Setter of the rotation angle. More...

const CartesianPose	get_rotation () const

const std::list< CartesianPose >	sample_from_parameterization (unsigned int nb_samples) const
	Function to sample an obstacle from its parameterization. More...

const std::vector< double >	to_std_vector () const
	Convert the ellipse to an std vector representation of its parameter. More...

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

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

Public Member Functions inherited from state_representation::Shape
	Shape (const StateType &type)
	Constructor with a type. More...

	Shape (const StateType &type, const std::string &name, const std::string &reference_frame="world")
	Constructor with name but empty state. More...

	Shape (const Shape &shape)
	Copy constructor from another shape. More...

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

const CartesianState &	get_center_state () const
	Getter of the state. More...

const CartesianPose &	get_center_pose () const
	Getter of the pose from the state. More...

const Eigen::Vector3d	get_center_position () const
	Getter of the position from the state. More...

const Eigen::Quaterniond	get_center_orientation () const
	Getter of the orientation from the state. More...

const CartesianTwist &	get_center_twist () const
	Getter of the twist from the state. More...

void	set_center_state (const CartesianState &state)
	Setter of the state. More...

void	set_center_pose (const CartesianPose &pose)
	Setter of the pose. More...

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

void	set_center_orientation (const Eigen::Quaterniond &orientation)
	Setter of the pose. 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 const Ellipsoid	from_algebraic_equation (const std::string &name, const std::vector< double > &coefficients, const std::string &reference_frame="world")
	Compute an ellipsoid from its algebraic equation ax2 + bxy + cy2 + cx + ey + f. More...

static const Ellipsoid	fit (const std::string &name, const std::list< CartesianPose > &points, const std::string &reference_frame="world", double noise_level=0.01)
	Fit an ellipsoid on a set of points This method uses direct least square fitting from Fitzgibbon, A., et al. (1999). "Direct least square fitting of ellipses." IEEE Transactions on pattern analysis and machine intelligence 21(5) More...

Friends
std::ostream &	operator<< (std::ostream &os, const Ellipsoid &ellipsoid)
	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

Definition at line 15 of file Ellipsoid.hpp.

Constructor & Destructor Documentation

◆ Ellipsoid() [1/3]

state_representation::Ellipsoid::Ellipsoid ( )

Empty constructor.

Definition at line 8 of file Ellipsoid.cpp.

◆ Ellipsoid() [2/3]

state_representation::Ellipsoid::Ellipsoid	(	const std::string &	name,
		const std::string &	reference_frame = `"world"`
	)

explicit

Constructor with name but empty state.

Parameters

name	name of the ellipsoid
safety_margin	the safety_margin (default=0 in all axes)

Definition at line 10 of file Ellipsoid.cpp.

◆ Ellipsoid() [3/3]

state_representation::Ellipsoid::Ellipsoid ( const Ellipsoid & ellipsoid )

Copy constructor from another ellipsoid.

Parameters

ellipsoid the ellipsoid to copy

Definition at line 15 of file Ellipsoid.cpp.

Member Function Documentation

◆ fit()

const Ellipsoid state_representation::Ellipsoid::fit	(	const std::string &	name,
		const std::list< CartesianPose > &	points,
		const std::string &	reference_frame = `"world"`,
		double	noise_level = `0.01`
	)

static

Fit an ellipsoid on a set of points This method uses direct least square fitting from Fitzgibbon, A., et al. (1999). "Direct least square fitting of ellipses." IEEE Transactions on pattern analysis and machine intelligence 21(5)

Definition at line 85 of file Ellipsoid.cpp.

◆ from_algebraic_equation()

const Ellipsoid state_representation::Ellipsoid::from_algebraic_equation	(	const std::string &	name,
		const std::vector< double > &	coefficients,
		const std::string &	reference_frame = `"world"`
	)

static

Compute an ellipsoid from its algebraic equation ax2 + bxy + cy2 + cx + ey + f.

Returns: the Ellipsoid in its geometric representation

Definition at line 39 of file Ellipsoid.cpp.

◆ get_axis_length()

double state_representation::Ellipsoid::get_axis_length ( unsigned int index ) const

inline

Getter of the axis length in one direction.

Parameters

index the index of the length (0 for x, 1 for y and 2 for z)

Returns: the length in the desired direction

Definition at line 149 of file Ellipsoid.hpp.

◆ get_axis_lengths()

const std::vector< double > & state_representation::Ellipsoid::get_axis_lengths ( ) const

inline

Getter of the axis lengths.

Returns: the axis lengths

Definition at line 145 of file Ellipsoid.hpp.

◆ get_rotation()

const CartesianPose state_representation::Ellipsoid::get_rotation ( ) const

inline

Definition at line 189 of file Ellipsoid.hpp.

◆ get_rotation_angle()

double state_representation::Ellipsoid::get_rotation_angle ( ) const

inline

Getter of the rotation angle.

Returns: the rotation angle

Definition at line 163 of file Ellipsoid.hpp.

◆ operator=()

Ellipsoid & state_representation::Ellipsoid::operator= ( const Ellipsoid & 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 138 of file Ellipsoid.hpp.

◆ sample_from_parameterization()

const std::list< CartesianPose > state_representation::Ellipsoid::sample_from_parameterization ( unsigned int nb_samples ) const

Function to sample an obstacle from its parameterization.

Parameters

nb_samples the number of sample points to generate

Returns: the list of sample points

Definition at line 18 of file Ellipsoid.cpp.

◆ set_axis_lengths() [1/2]

void state_representation::Ellipsoid::set_axis_lengths ( const std::vector< double > & axis_lengths )

inline

Setter of the axis lengths.

Parameters

axis_lengths the new values

Definition at line 153 of file Ellipsoid.hpp.

◆ set_axis_lengths() [2/2]

void state_representation::Ellipsoid::set_axis_lengths	(	unsigned int	index,
		double	axis_length
	)

inline

Setter of the axis length at given index.

Parameters

index	the desired index
axis_length	the new length

Definition at line 158 of file Ellipsoid.hpp.

◆ set_data() [1/2]

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

overridevirtual

Set the ellipsoid data from an Eigen vector.

Parameters

the	data vector with [center_position, rotation_angle, axis_lengths]

Reimplemented from state_representation::State.

Definition at line 168 of file Ellipsoid.cpp.

◆ set_data() [2/2]

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

overridevirtual

Set the ellipsoid data from a std vector.

Parameters

the	data vector with [center_position, rotation_angle, axis_lengths]

Reimplemented from state_representation::State.

Definition at line 181 of file Ellipsoid.cpp.

◆ set_rotation_angle()

void state_representation::Ellipsoid::set_rotation_angle ( double rotation_angle )

inline

Setter of the rotation angle.

Parameters

rotation_angle the rotation angle

Definition at line 167 of file Ellipsoid.hpp.

◆ to_std_vector()

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

inline

Convert the ellipse to an std vector representation of its parameter.

Returns: an std vector with [center_position, rotation_angle, axis_lengths]

Definition at line 172 of file Ellipsoid.hpp.

Friends And Related Function Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const Ellipsoid &	ellipsoid
	)

friend

Overload the ostream operator for printing.

Parameters

os	the ostream to append the string representing the Ellipsoid to
ellipsoid	the Ellipsoid to print

Returns: the appended ostream

Definition at line 185 of file Ellipsoid.cpp.

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

/github/workspace/source/state_representation/include/state_representation/geometry/Ellipsoid.hpp
/github/workspace/source/state_representation/src/geometry/Ellipsoid.cpp

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Ellipsoid() [1/3]

◆ Ellipsoid() [2/3]

◆ Ellipsoid() [3/3]

Member Function Documentation

◆ fit()

◆ from_algebraic_equation()

◆ get_axis_length()

◆ get_axis_lengths()

◆ get_rotation()

◆ get_rotation_angle()

◆ operator=()

◆ sample_from_parameterization()

◆ set_axis_lengths() [1/2]

◆ set_axis_lengths() [2/2]

◆ set_data() [1/2]

◆ set_data() [2/2]

◆ set_rotation_angle()

◆ to_std_vector()

Friends And Related Function Documentation

◆ operator<<