Class to define a state in joint space. More...

#include <JointState.hpp>

Inheritance diagram for state_representation::JointState:

Public Member Functions
	JointState ()
	Empty constructor for a JointState. More...

	JointState (const std::string &robot_name, unsigned int nb_joints=0)
	Constructor with name and number of joints provided. More...

	JointState (const std::string &robot_name, const std::vector< std::string > &joint_names)
	Constructor with name and list of joint names provided. More...

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

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

unsigned int	get_size () const
	Getter of the size from the attributes. More...

const std::vector< std::string > &	get_names () const
	Getter of the names attribute. More...

void	set_names (unsigned int nb_joints)
	Setter of the names attribute from the number of joints. More...

void	set_names (const std::vector< std::string > &names)
	Setter of the names attribute. More...

unsigned int	get_joint_index (const std::string &joint_name) const
	Get joint index by the name of the joint, if it exists. More...

const Eigen::VectorXd &	get_positions () const
	Getter of the positions attribute. More...

double	get_position (const std::string &joint_name) const
	Get the position of a joint by its name, if it exists. More...

double	get_position (unsigned int joint_index) const
	Get the position of a joint by its index, if it exists. More...

void	set_positions (const Eigen::VectorXd &positions)
	Setter of the positions attribute. More...

void	set_positions (const std::vector< double > &positions)
	Setter of the positions from std vector. More...

void	set_position (double position, const std::string &joint_name)
	Set the position of a joint by its name. More...

void	set_position (double position, unsigned int joint_index)
	Set the position of a joint by its index. More...

const Eigen::VectorXd &	get_velocities () const
	Getter of the velocities attribute. More...

double	get_velocity (const std::string &joint_name) const
	Get the velocity of a joint by its name, if it exists. More...

double	get_velocity (unsigned int joint_index) const
	Get the velocity of a joint by its index, if it exists. More...

void	set_velocities (const Eigen::VectorXd &velocities)
	Setter of the velocities attribute. More...

void	set_velocities (const std::vector< double > &velocities)
	Setter of the velocities from std vector. More...

void	set_velocity (double velocity, const std::string &joint_name)
	Set the velocity of a joint by its name. More...

void	set_velocity (double velocity, unsigned int joint_index)
	Set the velocity of a joint by its index. More...

const Eigen::VectorXd &	get_accelerations () const
	Getter of the accelerations attribute. More...

double	get_acceleration (const std::string &joint_name) const
	Get the acceleration of a joint by its name, if it exists. More...

double	get_acceleration (unsigned int joint_index) const
	Get the acceleration of a joint by its index, if it exists. More...

void	set_accelerations (const Eigen::VectorXd &accelerations)
	Setter of the accelerations attribute. More...

void	set_accelerations (const std::vector< double > &accelerations)
	Setter of the accelerations from std vector. More...

void	set_acceleration (double acceleration, const std::string &joint_name)
	Set the acceleration of a joint by its name. More...

void	set_acceleration (double acceleration, unsigned int joint_index)
	Set the acceleration of a joint by its index. More...

const Eigen::VectorXd &	get_torques () const
	Getter of the torques attribute. More...

double	get_torque (const std::string &joint_name) const
	Get the torque of a joint by its name, if it exists. More...

double	get_torque (unsigned int joint_index) const
	Get the torque of a joint by its index, if it exists. More...

void	set_torques (const Eigen::VectorXd &torques)
	Setter of the torques attribute. More...

void	set_torques (const std::vector< double > &torques)
	Setter of the torques attributes. More...

void	set_torque (double torque, const std::string &joint_name)
	Set the torque of a joint by its name. More...

void	set_torque (double torque, unsigned int joint_index)
	Set the torque of a joint by its index. More...

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

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

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

void	clamp_state_variable (double max_absolute_value, const JointStateVariable &state_variable_type, double noise_ratio=0)
	Clamp inplace the magnitude of the a specific joint state variable. More...

void	clamp_state_variable (const Eigen::ArrayXd &max_absolute_value_array, const JointStateVariable &state_variable_type, const Eigen::ArrayXd &noise_ratio_array)
	Clamp inplace the magnitude of the a specific joint state variable for each individual joint. More...

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

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

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

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

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

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

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

JointState &	operator*= (double lambda)
	Overload the *= operator with a double gain. More...

JointState	operator* (double lambda) const
	Overload the * operator with a double gain. More...

JointState &	operator*= (const Eigen::ArrayXd &lambda)
	Overload the *= operator with an array of gains. More...

JointState	operator* (const Eigen::ArrayXd &lambda) const
	Overload the * operator with an array of gains. More...

JointState &	operator*= (const Eigen::MatrixXd &lambda)
	Overload the *= operator with a matrix of gains. More...

JointState	operator* (const Eigen::MatrixXd &lambda) const
	Overload the * operator with a matrix of gains. More...

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

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

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

std::vector< double >	to_std_vector () const
	Return the joint state as a std vector of floats. 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 JointState	Zero (const std::string &robot_name, unsigned int nb_joints)
	Constructor for a zero JointState. More...

static JointState	Zero (const std::string &robot_name, const std::vector< std::string > &joint_names)
	Constructor for a zero JointState. More...

static JointState	Random (const std::string &robot_name, unsigned int nb_joints)
	Constructor for a random JointState. More...

static JointState	Random (const std::string &robot_name, const std::vector< std::string > &joint_names)
	Constructor for a random JointState. More...

Protected Member Functions
void	multiply_state_variable (const Eigen::ArrayXd &lambda, const JointStateVariable &state_variable_type)
	Proxy function that multiply the specified state variable by an array of gain. More...

void	multiply_state_variable (const Eigen::MatrixXd &lambda, const JointStateVariable &state_variable_type)
	Proxy function that multiply the specified state variable by an array of gain. More...

Eigen::VectorXd	get_state_variable (const JointStateVariable &state_variable_type) const
	Getter of the variable value corresponding to the input. More...

void	set_state_variable (const Eigen::VectorXd &new_value, const JointStateVariable &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 (JointState &state1, JointState &state2)
	Swap the values of the two JointState. More...

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

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

JointState	operator* (const Eigen::ArrayXd &lambda, const JointState &state)
	Overload the * operator with an array of gains. More...

JointState	operator* (const Eigen::MatrixXd &lambda, const JointState &state)
	Overload the * operator with a matrix of gains. More...

Detailed Description

Class to define a state in joint space.

Definition at line 36 of file JointState.hpp.

Constructor & Destructor Documentation

◆ JointState() [1/4]

state_representation::JointState::JointState ( )

explicit

Empty constructor for a JointState.

Definition at line 16 of file JointState.cpp.

◆ JointState() [2/4]

state_representation::JointState::JointState	(	const std::string &	robot_name,
		unsigned int	nb_joints = `0`
	)

explicit

Constructor with name and number of joints provided.

Parameters

robot_name	The name of the associated robot
nb_joints	The number of joints for initialization

Definition at line 20 of file JointState.cpp.

◆ JointState() [3/4]

state_representation::JointState::JointState	(	const std::string &	robot_name,
		const std::vector< std::string > &	joint_names
	)

explicit

Constructor with name and list of joint names provided.

Parameters

robot_name	The name of the associated robot
joint_names	List of joint names

Definition at line 26 of file JointState.cpp.

◆ JointState() [4/4]

state_representation::JointState::JointState ( const JointState & state )

default

Copy constructor of a JointState.

Parameters

state The JointState to copy from

Member Function Documentation

◆ array()

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

Returns the data vector as an Eigen Array.

Returns: The concatenated data array

Definition at line 346 of file JointState.cpp.

◆ clamp_state_variable() [1/2]

void state_representation::JointState::clamp_state_variable	(	const Eigen::ArrayXd &	max_absolute_value_array,
		const JointStateVariable &	state_variable_type,
		const Eigen::ArrayXd &	noise_ratio_array
	)

Clamp inplace the magnitude of the a specific joint state variable for each individual joint.

Parameters

max_absolute_value_array	The maximum absolute value of the state variable for each joints individually
state_variable_type	Name of the variable from the JointStateVariable structure to clamp
noise_ratio_array	Those values will be used to apply a dead zone relative to the maximum absolute value under which the state variable will be set to 0 for each individual joint

Definition at line 350 of file JointState.cpp.

◆ clamp_state_variable() [2/2]

void state_representation::JointState::clamp_state_variable	(	double	max_absolute_value,
		const JointStateVariable &	state_variable_type,
		double	noise_ratio = `0`
	)

Clamp inplace the magnitude of the a specific joint state variable.

Parameters

max_absolute_value	The maximum absolute value of the state variable
state_variable_type	Name of the variable from the JointStateVariable structure to clamp
noise_ratio	If provided, this value will be used to apply a dead zone relative to the maximum absolute value under which the state variable will be set to 0

Definition at line 379 of file JointState.cpp.

◆ copy()

JointState state_representation::JointState::copy ( ) const

Return a copy of the JointState.

Returns: The copy

Definition at line 329 of file JointState.cpp.

◆ data()

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

virtual

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

Returns: The concatenated data vector

Reimplemented in state_representation::JointAccelerations, state_representation::JointPositions, state_representation::JointTorques, and state_representation::JointVelocities.

Definition at line 334 of file JointState.cpp.

◆ dist()

double state_representation::JointState::dist	(	const JointState &	state,
		const JointStateVariable &	state_variable_type = `JointStateVariable::ALL`
	)		const

Compute the distance to another state as the sum of distances between each attribute.

Parameters

state	The second state
state_variable_type	Name of the variable from the JointStateVariable 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 389 of file JointState.cpp.

◆ get_acceleration() [1/2]

double state_representation::JointState::get_acceleration ( const std::string & joint_name ) const

Get the acceleration of a joint by its name, if it exists.

A JointNotFoundException exception is thrown if the desired joint doesn't exist.

Parameters

joint_name The name of the desired joint

Returns: The index of the joint, if it exists

Parameters

joint_name The name of the joint

Returns: The acceleration of the joint, if it exists

Definition at line 154 of file JointState.cpp.

◆ get_acceleration() [2/2]

double state_representation::JointState::get_acceleration ( unsigned int joint_index ) const

Get the acceleration of a joint by its index, if it exists.

A JointNotFoundException exception is thrown if the desired joint doesn't exist.

Parameters

joint_name The name of the desired joint

Returns: The index of the joint, if it exists

Parameters

joint_index The index of the joint

Returns: The acceleration of the joint, if it exists

Definition at line 158 of file JointState.cpp.

◆ get_accelerations()

const Eigen::VectorXd & state_representation::JointState::get_accelerations ( ) const

Getter of the accelerations attribute.

Returns: The joint accelerations

Definition at line 150 of file JointState.cpp.

◆ get_joint_index()

unsigned int state_representation::JointState::get_joint_index ( const std::string & joint_name ) const

Get joint index by the name of the joint, if it exists.

A JointNotFoundException exception is thrown if the desired joint doesn't exist.

Parameters

joint_name The name of the desired joint

Returns: The index of the joint, if it exists

Definition at line 78 of file JointState.cpp.

◆ get_names()

const std::vector< std::string > & state_representation::JointState::get_names ( ) const

inline

Getter of the names attribute.

Returns: The vector of strings containing the joint names

Definition at line 660 of file JointState.hpp.

◆ get_position() [1/2]

double state_representation::JointState::get_position ( const std::string & joint_name ) const

Get the position of a joint by its name, if it exists.

A JointNotFoundException exception is thrown if the desired joint doesn't exist.

Parameters

joint_name The name of the desired joint

Returns: The index of the joint, if it exists

Parameters

joint_name The name of the joint

Returns: The position of the joint, if it exists

Definition at line 90 of file JointState.cpp.

◆ get_position() [2/2]

double state_representation::JointState::get_position ( unsigned int joint_index ) const

Get the position of a joint by its index, if it exists.

A JointNotFoundException exception is thrown if the desired joint doesn't exist.

Parameters

joint_name The name of the desired joint

Returns: The index of the joint, if it exists

Parameters

joint_index The index of the joint

Returns: The position of the joint, if it exists

Definition at line 94 of file JointState.cpp.

◆ get_positions()

const Eigen::VectorXd & state_representation::JointState::get_positions ( ) const

Getter of the positions attribute.

Returns: The joint positions

Definition at line 86 of file JointState.cpp.

◆ get_size()

unsigned int state_representation::JointState::get_size ( ) const

inline

Getter of the size from the attributes.

Returns: The size of the joint state

Definition at line 656 of file JointState.hpp.

◆ get_state_variable()

Eigen::VectorXd state_representation::JointState::get_state_variable ( const JointStateVariable & 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 685 of file JointState.hpp.

◆ get_torque() [1/2]

double state_representation::JointState::get_torque ( const std::string & joint_name ) const

Get the torque of a joint by its name, if it exists.

A JointNotFoundException exception is thrown if the desired joint doesn't exist.

Parameters

joint_name The name of the desired joint

Returns: The index of the joint, if it exists

Parameters

joint_name The name of the joint

Returns: The torque of the joint, if it exists

Definition at line 186 of file JointState.cpp.

◆ get_torque() [2/2]

double state_representation::JointState::get_torque ( unsigned int joint_index ) const

Get the torque of a joint by its index, if it exists.

A JointNotFoundException exception is thrown if the desired joint doesn't exist.

Parameters

joint_name The name of the desired joint

Returns: The index of the joint, if it exists

Parameters

joint_index The index of the joint

Returns: The torque of the joint, if it exists

Definition at line 190 of file JointState.cpp.

◆ get_torques()

const Eigen::VectorXd & state_representation::JointState::get_torques ( ) const

Getter of the torques attribute.

Returns: The joint torques

Definition at line 182 of file JointState.cpp.

◆ get_velocities()

const Eigen::VectorXd & state_representation::JointState::get_velocities ( ) const

Getter of the velocities attribute.

Returns: The joint velocities

Definition at line 118 of file JointState.cpp.

◆ get_velocity() [1/2]

double state_representation::JointState::get_velocity ( const std::string & joint_name ) const

Get the velocity of a joint by its name, if it exists.

A JointNotFoundException exception is thrown if the desired joint doesn't exist.

Parameters

joint_name The name of the desired joint

Returns: The index of the joint, if it exists

Parameters

joint_name The name of the joint

Returns: The velocity of the joint, if it exists

Definition at line 122 of file JointState.cpp.

◆ get_velocity() [2/2]

double state_representation::JointState::get_velocity ( unsigned int joint_index ) const

Get the velocity of a joint by its index, if it exists.

A JointNotFoundException exception is thrown if the desired joint doesn't exist.

Parameters

joint_name The name of the desired joint

Returns: The index of the joint, if it exists

Parameters

joint_index The index of the joint

Returns: The velocity of the joint, if it exists

Definition at line 126 of file JointState.cpp.

◆ initialize()

void state_representation::JointState::initialize ( )

virtual

Initialize the State to a zero value.

Reimplemented from state_representation::State.

Definition at line 31 of file JointState.cpp.

◆ is_compatible()

bool state_representation::JointState::is_compatible ( const State & state ) const

inlinevirtual

Check if the state is compatible for operations with the state given as argument.

Parameters

state The state to check compatibility with

Reimplemented from state_representation::State.

Definition at line 645 of file JointState.hpp.

◆ multiply_state_variable() [1/2]

void state_representation::JointState::multiply_state_variable	(	const Eigen::ArrayXd &	lambda,
		const JointStateVariable &	state_variable_type
	)

protected

Proxy function that multiply the specified state variable by an array of gain.

Parameters

lambda	The gain array to multiply with
state_variable_type	The state variable on which to apply the multiplication

Definition at line 268 of file JointState.cpp.

◆ multiply_state_variable() [2/2]

void state_representation::JointState::multiply_state_variable	(	const Eigen::MatrixXd &	lambda,
		const JointStateVariable &	state_variable_type
	)

protected

Proxy function that multiply the specified state variable by an array of gain.

Parameters

lambda	The gain array to multiply with
state_variable_type	The state variable on which to apply the multiplication

Definition at line 279 of file JointState.cpp.

◆ operator*() [1/3]

JointState state_representation::JointState::operator* ( const Eigen::ArrayXd & lambda ) const

Overload the * operator with an array of gains.

Parameters

lambda The gain array to multiply with

Returns: The JointState multiplied by lambda

Definition at line 313 of file JointState.cpp.

◆ operator*() [2/3]

JointState state_representation::JointState::operator* ( const Eigen::MatrixXd & lambda ) const

Overload the * operator with a matrix of gains.

Parameters

lambda The matrix to multiply with

Returns: The JointState multiplied by lambda

Definition at line 307 of file JointState.cpp.

◆ operator*() [3/3]

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

Overload the * operator with a double gain.

Parameters

lambda The gain to multiply with

Returns: The JointState multiplied by lambda

Definition at line 301 of file JointState.cpp.

◆ operator*=() [1/3]

JointState & state_representation::JointState::operator*= ( const Eigen::ArrayXd & lambda )

Overload the *= operator with an array of gains.

Parameters

lambda The gain array to multiply with

Returns: The JointState multiplied by lambda

Definition at line 291 of file JointState.cpp.

◆ operator*=() [2/3]

JointState & state_representation::JointState::operator*= ( const Eigen::MatrixXd & lambda )

Overload the *= operator with a matrix of gains.

Parameters

lambda The matrix to multiply with

Returns: The JointState multiplied by lambda

Definition at line 296 of file JointState.cpp.

◆ operator*=() [3/3]

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

Overload the *= operator with a double gain.

Parameters

lambda The gain to multiply with

Returns: The JointState multiplied by lambda

Definition at line 260 of file JointState.cpp.

◆ operator+()

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

Overload the + operator.

Parameters

state JointState to add

Returns: The current JointState added the JointState given in argument

Definition at line 231 of file JointState.cpp.

◆ operator+=()

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

Overload the += operator.

Parameters

state JointState to add

Returns: The current JointState added the JointState given in argument

Definition at line 214 of file JointState.cpp.

◆ operator-()

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

Overload the - operator.

Parameters

state JointState to subtract

Returns: The current JointState subtracted the JointState given in argument

Definition at line 254 of file JointState.cpp.

◆ operator-=()

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

Overload the -= operator.

Parameters

state JointState to subtract

Returns: The current JointState subtracted the JointState given in argument

Definition at line 237 of file JointState.cpp.

◆ operator/()

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

Overload the / operator with a scalar.

Parameters

lambda The scalar to divide with

Returns: The JointState divided by lambda

Definition at line 323 of file JointState.cpp.

◆ operator/=()

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

Overload the /= operator with a scalar.

Parameters

lambda The scalar to divide with

Returns: The JointState divided by lambda

Definition at line 319 of file JointState.cpp.

◆ operator=()

JointState & state_representation::JointState::operator= ( const JointState & 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 607 of file JointState.hpp.

◆ Random() [1/2]

JointState state_representation::JointState::Random	(	const std::string &	robot_name,
		const std::vector< std::string > &	joint_names
	)

static

Constructor for a random JointState.

Parameters

robot_name	The name of the associated robot
joint_names	List of joint names

Returns: JointState with random values in all attributes

Definition at line 71 of file JointState.cpp.

◆ Random() [2/2]

JointState state_representation::JointState::Random	(	const std::string &	robot_name,
		unsigned int	nb_joints
	)

static

Constructor for a random JointState.

Parameters

robot_name	The name of the associated robot
nb_joints	The number of joints for initialization

Returns: JointState with random values in all attributes

Definition at line 64 of file JointState.cpp.

◆ set_acceleration() [1/2]

void state_representation::JointState::set_acceleration	(	double	acceleration,
		const std::string &	joint_name
	)

Set the acceleration of a joint by its name.

Parameters

acceleration	The acceleration of the joint
joint_name	The name of the joint

Definition at line 171 of file JointState.cpp.

◆ set_acceleration() [2/2]

void state_representation::JointState::set_acceleration	(	double	acceleration,
		unsigned int	joint_index
	)

Set the acceleration of a joint by its index.

Parameters

acceleration	The acceleration of the joint
joint_index	The index of the joint

Definition at line 176 of file JointState.cpp.

◆ set_accelerations() [1/2]

void state_representation::JointState::set_accelerations ( const Eigen::VectorXd & accelerations )

Setter of the accelerations attribute.

Parameters

accelerations The joint accelerations as Eigen vector

Definition at line 163 of file JointState.cpp.

◆ set_accelerations() [2/2]

void state_representation::JointState::set_accelerations ( const std::vector< double > & accelerations )

Setter of the accelerations from std vector.

Parameters

accelerations The joint accelerations as std vector

Definition at line 167 of file JointState.cpp.

◆ set_data() [1/2]

void state_representation::JointState::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::JointAccelerations, state_representation::JointPositions, state_representation::JointTorques, and state_representation::JointVelocities.

Definition at line 338 of file JointState.cpp.

◆ set_data() [2/2]

void state_representation::JointState::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::JointAccelerations, state_representation::JointPositions, state_representation::JointTorques, and state_representation::JointVelocities.

Definition at line 342 of file JointState.cpp.

◆ set_names() [1/2]

void state_representation::JointState::set_names ( const std::vector< std::string > & names )

inline

Setter of the names attribute.

Parameters

names The vector of strings containing the joint names

Definition at line 676 of file JointState.hpp.

◆ set_names() [2/2]

void state_representation::JointState::set_names ( unsigned int nb_joints )

inline

Setter of the names attribute from the number of joints.

Parameters

nb_joints The number of joints of the joint state

Definition at line 664 of file JointState.hpp.

◆ set_position() [1/2]

void state_representation::JointState::set_position	(	double	position,
		const std::string &	joint_name
	)

Set the position of a joint by its name.

Parameters

position	The position of the joint
joint_name	The name of the joint

Definition at line 107 of file JointState.cpp.

◆ set_position() [2/2]

void state_representation::JointState::set_position	(	double	position,
		unsigned int	joint_index
	)

Set the position of a joint by its index.

Parameters

position	The position of the joint
joint_index	The index of the joint

Definition at line 112 of file JointState.cpp.

◆ set_positions() [1/2]

void state_representation::JointState::set_positions ( const Eigen::VectorXd & positions )

Setter of the positions attribute.

Parameters

positions The joint positions as Eigen vector

Definition at line 99 of file JointState.cpp.

◆ set_positions() [2/2]

void state_representation::JointState::set_positions ( const std::vector< double > & positions )

Setter of the positions from std vector.

Parameters

positions The joint positions as std vector

Definition at line 103 of file JointState.cpp.

◆ set_state_variable()

void state_representation::JointState::set_state_variable	(	const Eigen::VectorXd &	new_value,
		const JointStateVariable &	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 706 of file JointState.hpp.

◆ set_torque() [1/2]

void state_representation::JointState::set_torque	(	double	torque,
		const std::string &	joint_name
	)

Set the torque of a joint by its name.

Parameters

torque	The torque of the joint
joint_name	The name of the joint

Definition at line 203 of file JointState.cpp.

◆ set_torque() [2/2]

void state_representation::JointState::set_torque	(	double	torque,
		unsigned int	joint_index
	)

Set the torque of a joint by its index.

Parameters

torque	The torque of the joint
joint_index	The index of the joint

Definition at line 208 of file JointState.cpp.

◆ set_torques() [1/2]

void state_representation::JointState::set_torques ( const Eigen::VectorXd & torques )

Setter of the torques attribute.

Parameters

torques The joint torques as Eigen vector

Definition at line 195 of file JointState.cpp.

◆ set_torques() [2/2]

void state_representation::JointState::set_torques ( const std::vector< double > & torques )

Setter of the torques attributes.

Parameters

torques The joint torques as std vector

Definition at line 199 of file JointState.cpp.

◆ set_velocities() [1/2]

void state_representation::JointState::set_velocities ( const Eigen::VectorXd & velocities )

Setter of the velocities attribute.

Parameters

velocities The joint velocities as Eigen vector

Definition at line 131 of file JointState.cpp.

◆ set_velocities() [2/2]

void state_representation::JointState::set_velocities ( const std::vector< double > & velocities )

Setter of the velocities from std vector.

Parameters

velocities The joint velocities as std vector

Definition at line 135 of file JointState.cpp.

◆ set_velocity() [1/2]

void state_representation::JointState::set_velocity	(	double	velocity,
		const std::string &	joint_name
	)

Set the velocity of a joint by its name.

Parameters

velocity	The velocity of the joint
joint_name	The name of the joint

Definition at line 139 of file JointState.cpp.

◆ set_velocity() [2/2]

void state_representation::JointState::set_velocity	(	double	velocity,
		unsigned int	joint_index
	)

Set the velocity of a joint by its index.

Parameters

velocity	The velocity of the joint
joint_index	The index of the joint

Definition at line 144 of file JointState.cpp.

◆ set_zero()

void state_representation::JointState::set_zero ( )

Set the JointState to a zero value.

Definition at line 43 of file JointState.cpp.

◆ to_std_vector()

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

inline

Return the joint state as a std vector of floats.

Returns: The joint vector as a std vector

Definition at line 732 of file JointState.hpp.

◆ Zero() [1/2]

JointState state_representation::JointState::Zero	(	const std::string &	robot_name,
		const std::vector< std::string > &	joint_names
	)

static

Constructor for a zero JointState.

Parameters

robot_name	The name of the associated robot
joint_names	List of joint names

Returns: JointState with zero values in all attributes

Definition at line 57 of file JointState.cpp.

◆ Zero() [2/2]

JointState state_representation::JointState::Zero	(	const std::string &	robot_name,
		unsigned int	nb_joints
	)

static

Constructor for a zero JointState.

Parameters

robot_name	The name of the associated robot
nb_joints	The number of joints for initialization

Returns: JointState with zero values in all attributes

Definition at line 50 of file JointState.cpp.

Friends And Related Function Documentation

◆ operator* [1/3]

JointState operator*	(	const Eigen::ArrayXd &	lambda,
		const JointState &	state
	)

friend

Overload the * operator with an array of gains.

Parameters

lambda The gain array to multiply with

Returns: The JointState provided multiply by lambda

Definition at line 456 of file JointState.cpp.

◆ operator* [2/3]

JointState operator*	(	const Eigen::MatrixXd &	lambda,
		const JointState &	state
	)

friend

Overload the * operator with a matrix of gains.

Parameters

lambda The matrix to multiply with

Returns: The JointState provided multiply by lambda

Definition at line 450 of file JointState.cpp.

◆ operator* [3/3]

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

friend

Overload the * operator with a scalar.

Parameters

lambda The scalar to multiply with

Returns: The JointState provided multiply by lambda

Definition at line 443 of file JointState.cpp.

◆ operator<<

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

friend

Overload the ostream operator for printing.

Parameters

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

Returns: The appended ostream

Definition at line 415 of file JointState.cpp.

◆ swap

void swap	(	JointState &	state1,
		JointState &	state2
	)

friend

Swap the values of the two JointState.

Parameters

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

Definition at line 598 of file JointState.hpp.

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

/github/workspace/source/state_representation/include/state_representation/space/joint/JointState.hpp
/github/workspace/source/state_representation/src/space/joint/JointState.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ JointState() [1/4]

◆ JointState() [2/4]

◆ JointState() [3/4]

◆ JointState() [4/4]

Member Function Documentation

◆ array()

◆ clamp_state_variable() [1/2]

◆ clamp_state_variable() [2/2]

◆ copy()

◆ data()

◆ dist()

◆ get_acceleration() [1/2]

◆ get_acceleration() [2/2]

◆ get_accelerations()

◆ get_joint_index()

◆ get_names()

◆ get_position() [1/2]

◆ get_position() [2/2]

◆ get_positions()

◆ get_size()

◆ get_state_variable()

◆ get_torque() [1/2]

◆ get_torque() [2/2]

◆ get_torques()

◆ get_velocities()

◆ get_velocity() [1/2]

◆ get_velocity() [2/2]

◆ initialize()

◆ is_compatible()

◆ multiply_state_variable() [1/2]

◆ multiply_state_variable() [2/2]

◆ operator*() [1/3]

◆ operator*() [2/3]

◆ operator*() [3/3]

◆ operator*=() [1/3]

◆ operator*=() [2/3]

◆ operator*=() [3/3]

◆ operator+()

◆ operator+=()

◆ operator-()

◆ operator-=()

◆ operator/()

◆ operator/=()

◆ operator=()

◆ Random() [1/2]

◆ Random() [2/2]

◆ set_acceleration() [1/2]

◆ set_acceleration() [2/2]

◆ set_accelerations() [1/2]

◆ set_accelerations() [2/2]

◆ set_data() [1/2]

◆ set_data() [2/2]

◆ set_names() [1/2]

◆ set_names() [2/2]

◆ set_position() [1/2]

◆ set_position() [2/2]

◆ set_positions() [1/2]

◆ set_positions() [2/2]

◆ set_state_variable()

◆ set_torque() [1/2]

◆ set_torque() [2/2]

◆ set_torques() [1/2]

◆ set_torques() [2/2]

◆ set_velocities() [1/2]

◆ set_velocities() [2/2]

◆ set_velocity() [1/2]

◆ set_velocity() [2/2]

◆ set_zero()

◆ to_std_vector()

◆ Zero() [1/2]

◆ Zero() [2/2]

Friends And Related Function Documentation

◆ operator* [1/3]

◆ operator* [2/3]