Abstract class to represent a state. More...

#include <State.hpp>

Inheritance diagram for state_representation::State:

Public Member Functions
	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...

Protected Member Functions
void	set_type (const StateType &type)
	Override the state type. More...

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

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

Detailed Description

Abstract class to represent a state.

Definition at line 25 of file State.hpp.

Constructor & Destructor Documentation

◆ State() [1/4]

state_representation::State::State ( )

explicit

Empty constructor.

Definition at line 5 of file State.cpp.

◆ State() [2/4]

state_representation::State::State ( const StateType & type )

explicit

Constructor only specifying the type of the state from the StateType enumeration.

Parameters

type	the type of State

Definition at line 7 of file State.cpp.

◆ State() [3/4]

state_representation::State::State	(	const StateType &	type,
		const std::string &	name,
		const bool &	empty = `true`
	)

explicit

Constructor with name specification.

Parameters

type	the type of State
name	the name of the State
empty	specify if the state is initialized as empty, default true

Definition at line 9 of file State.cpp.

◆ State() [4/4]

state_representation::State::State ( const State & state )

Copy constructor from another State.

Definition at line 12 of file State.cpp.

Member Function Documentation

◆ get_name()

const std::string & state_representation::State::get_name ( ) const

Getter of the name as const reference.

Definition at line 48 of file State.cpp.

◆ get_timestamp()

const std::chrono::time_point< std::chrono::steady_clock > & state_representation::State::get_timestamp ( ) const

Getter of the timestamp attribute.

Definition at line 36 of file State.cpp.

◆ get_type()

const StateType & state_representation::State::get_type ( ) const

Getter of the type attribute.

Returns: the type of the State

Definition at line 19 of file State.cpp.

◆ initialize()

void state_representation::State::initialize ( )

virtual

Initialize the State to a zero value.

Reimplemented in state_representation::DualQuaternionPose, state_representation::DualQuaternionState, state_representation::DualQuaternionTwist, state_representation::JointState, state_representation::Trajectory< StateT >, state_representation::CartesianState, and state_representation::Jacobian.

Definition at line 61 of file State.cpp.

◆ is_compatible()

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

virtual

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

Parameters

state the state to check compatibility with

Reimplemented in state_representation::JointState, state_representation::Jacobian, and state_representation::SpatialState.

Definition at line 56 of file State.cpp.

◆ is_deprecated()

template<typename DurationT >

bool state_representation::State::is_deprecated ( const std::chrono::duration< int64_t, DurationT > & time_delay )

inline

Check if the state is deprecated given a certain time delay.

Parameters

time_delay the time after which to consider the state as deprecated

Definition at line 196 of file State.hpp.

◆ is_empty()

bool state_representation::State::is_empty ( ) const

Getter of the empty attribute.

Definition at line 23 of file State.cpp.

◆ operator bool()

state_representation::State::operator bool ( ) const

explicitnoexcept

Boolean operator for the truthiness of a state.

Returns: False if the state is empty, true otherwise

Definition at line 85 of file State.cpp.

◆ operator=()

State & state_representation::State::operator= ( const State & 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 189 of file State.hpp.

◆ reset_timestamp()

void state_representation::State::reset_timestamp ( )

Reset the timestamp attribute to now.

Definition at line 44 of file State.cpp.

◆ set_data() [1/3]

void state_representation::State::set_data ( const Eigen::MatrixXd & data )

virtual

Set the data of the state from an Eigen matrix.

Parameters

the	data vector

Reimplemented in state_representation::Jacobian.

Definition at line 73 of file State.cpp.

◆ set_data() [2/3]

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

virtual

Set the data of the state from a single Eigen vector.

Parameters

the	data vector

Reimplemented in state_representation::Ellipsoid, state_representation::CartesianAcceleration, state_representation::CartesianPose, state_representation::CartesianState, state_representation::CartesianTwist, state_representation::CartesianWrench, state_representation::JointAccelerations, state_representation::JointPositions, state_representation::JointState, state_representation::JointTorques, and state_representation::JointVelocities.

Definition at line 65 of file State.cpp.

◆ set_data() [3/3]

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

virtual

Set the data of the state from a single std vector.

Parameters

the	data vector

Reimplemented in state_representation::Ellipsoid, state_representation::CartesianAcceleration, state_representation::CartesianPose, state_representation::CartesianState, state_representation::CartesianTwist, state_representation::CartesianWrench, state_representation::JointAccelerations, state_representation::JointPositions, state_representation::JointState, state_representation::JointTorques, and state_representation::JointVelocities.

Definition at line 69 of file State.cpp.

◆ set_empty()

void state_representation::State::set_empty ( bool empty = true )

Setter of the empty attribute.

Parameters

empty bool if the state should be empty or not (default is true)

Definition at line 27 of file State.cpp.

◆ set_filled()

void state_representation::State::set_filled ( )

Setter of the empty attribute to false and also reset the timestamp.

Definition at line 31 of file State.cpp.

◆ set_name()

void state_representation::State::set_name ( const std::string & name )

virtual

Setter of the name.

Definition at line 52 of file State.cpp.

◆ set_timestamp()

void state_representation::State::set_timestamp ( const std::chrono::time_point< std::chrono::steady_clock > & timepoint )

Setter of the timestamp attribute.

Parameters

timepoint the new value for the timestamp

Definition at line 40 of file State.cpp.

◆ set_type()

void state_representation::State::set_type ( const StateType & type )

protected

Override the state type.

Parameters

type	the type of the state to set

Definition at line 89 of file State.cpp.

Friends And Related Function Documentation

◆ operator<<

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

friend

Overload the ostream operator for printing.

Parameters

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

Returns: the appended ostream

Definition at line 77 of file State.cpp.

◆ swap

void swap	(	State &	state1,
		State &	state2
	)

friend

Swap the values of the two States.

Parameters

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

Definition at line 182 of file State.hpp.

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

/github/workspace/source/state_representation/include/state_representation/State.hpp
/github/workspace/source/state_representation/src/State.cpp

Public Member Functions

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ State() [1/4]

◆ State() [2/4]

◆ State() [3/4]

◆ State() [4/4]

Member Function Documentation

◆ get_name()

◆ get_timestamp()

◆ get_type()

◆ initialize()

◆ is_compatible()

◆ is_deprecated()

◆ is_empty()

◆ operator bool()

◆ operator=()

◆ reset_timestamp()

◆ set_data() [1/3]

◆ set_data() [2/3]

◆ set_data() [3/3]

◆ set_empty()

◆ set_filled()

◆ set_name()

◆ set_timestamp()

◆ set_type()

Friends And Related Function Documentation

◆ operator<<

◆ swap