Bindings to encode and decode state objects into serialised binary message. More...

Classes
class	DecodingException
	A DecodingException is raised whenever a decoding operation fails due to invalid encoding. More...

class	JsonParsingException
	A JsonParsingException is raised whenever a JSON conversion operation fails due to invalid encoding. More...

Typedefs
typedef uint32_t	field_length_t
	Size type used to indicate number of fields and field data length in pack_fields() and unpack_fields() methods. More...

typedef std::chrono::nanoseconds	timestamp_duration_t
	Duration type to use when representing chrono timestamps as integer count since epoch. More...

Enumerations
enum	MessageType { UNKNOWN_MESSAGE = 0 , STATE_MESSAGE = 1 , SPATIAL_STATE_MESSAGE = 2 , CARTESIAN_STATE_MESSAGE = 3 , CARTESIAN_POSE_MESSAGE = 4 , CARTESIAN_TWIST_MESSAGE = 5 , CARTESIAN_ACCELERATION_MESSAGE = 6 , CARTESIAN_WRENCH_MESSAGE = 7 , JACOBIAN_MESSAGE = 8 , JOINT_STATE_MESSAGE = 9 , JOINT_POSITIONS_MESSAGE = 10 , JOINT_VELOCITIES_MESSAGE = 11 , JOINT_ACCELERATIONS_MESSAGE = 12 , JOINT_TORQUES_MESSAGE = 13 , SHAPE_MESSAGE = 14 , ELLIPSOID_MESSAGE = 15 , PARAMETER_MESSAGE = 16 }
	The MessageType enumeration contains the possible message types in the clproto. More...

enum	ParameterMessageType { UNKNOWN_PARAMETER = 0 , INT = 9 , INT_ARRAY = 10 , DOUBLE = 1 , DOUBLE_ARRAY = 2 , BOOL = 3 , BOOL_ARRAY = 4 , STRING = 5 , STRING_ARRAY = 6 , MATRIX = 7 , VECTOR = 8 }
	The ParameterMessageType enumeration contains the possible value types contained in a parameter message. More...

Functions
bool	is_valid (const std::string &msg)
	Check if a serialized binary string can be decoded into a support control libraries message type. More...

MessageType	check_message_type (const std::string &msg)
	Check which control libraries message type a serialized binary string can be decoded as, if at all. More...

ParameterMessageType	check_parameter_message_type (const std::string &msg)
	Check which control libraries parameter type a serialized binary string can be decoded as, if at all. More...

template<typename T >
std::string	encode (const T &obj)
	Encode a control libraries object into a serialized binary string representation (wire format). More...

template<typename T >
T	decode (const std::string &msg)
	Decode a serialized binary string from wire format into a control libraries object instance. More...

template<typename T >
bool	decode (const std::string &msg, T &obj)
	Exception safe decoding of a serialized binary string wire format into a control libraries object instance. More...

void	pack_fields (const std::vector< std::string > &fields, char *data)
	Pack an ordered vector of encoded field messages into a single data array. More...

std::vector< std::string >	unpack_fields (const char *data)
	Unpack a data array into an ordered vector of encoded field messages. More...

std::string	to_json (const std::string &msg)
	Convert a serialized binary string from wire format into a JSON formatted state message description. More...

template<typename T >
std::string	to_json (const T &obj)
	Convert a control libraries object into into a JSON formatted state message description. More...

std::string	from_json (const std::string &json)
	Convert a JSON formatted state message description into a serialized binary string representation (wire format). More...

template<typename T >
T	from_json (const std::string &json)
	Convert a JSON formatted state message description into a control libraries object instance. More...

template<typename FieldT >
std::vector< FieldT >	decoder (const google::protobuf::RepeatedField< FieldT > &message)
	Decoding helper method for a RepeatedField message into vector data. More...

template<typename FieldT >
std::vector< FieldT >	decoder (const google::protobuf::RepeatedPtrField< FieldT > &message)
	Decoding helper method for a RepeatedPtrField message into vector data. More...

template<typename ParamT >
state_representation::Parameter< ParamT >	decoder (const state_representation::proto::Parameter &message)
	Decoding helper method for the Parameter type. More...

std::vector< bool >	decoder (const google::protobuf::RepeatedField< bool > &message)

state_representation::StateType	decoder (const state_representation::proto::StateType &message)

Eigen::Vector3d	decoder (const state_representation::proto::Vector3d &message)

Eigen::Quaterniond	decoder (const state_representation::proto::Quaterniond &message)

template<typename ParamT >
state_representation::proto::Parameter	encoder (const state_representation::Parameter< ParamT > &parameter)
	Encoding helper method for the Parameter type. More...

template<typename FieldT >
google::protobuf::RepeatedField< FieldT >	encoder (const std::vector< FieldT > &data)
	Encoding helper method for vector data into a RepeatedField message type. More...

google::protobuf::RepeatedField< double >	matrix_encoder (const Eigen::MatrixXd &matrix)
	Encoding helper method for Eigen data into a RepeatedField message type. More...

state_representation::proto::StateType	encoder (const state_representation::StateType &type)

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

state_representation::proto::SpatialState	encoder (const state_representation::SpatialState &spatial_state)

state_representation::proto::Vector3d	encoder (const Eigen::Vector3d &vector)

state_representation::proto::Quaterniond	encoder (const Eigen::Quaterniond &quaternion)

state_representation::proto::CartesianState	encoder (const state_representation::CartesianState &cartesian_state)

state_representation::proto::Jacobian	encoder (const state_representation::Jacobian &jacobian)

state_representation::proto::JointState	encoder (const state_representation::JointState &joint_state)

template<>
std::string	encode< State > (const State &obj)

template<>
State	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, State &obj)

template<>
std::string	encode< State > (const State &obj)

template<>
State	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, State &obj)

template<>
std::string	encode< SpatialState > (const SpatialState &obj)

template<>
SpatialState	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, SpatialState &obj)

template<>
std::string	encode< SpatialState > (const SpatialState &obj)

template<>
SpatialState	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, SpatialState &obj)

template<>
std::string	encode< CartesianState > (const CartesianState &obj)

template<>
CartesianState	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, CartesianState &obj)

template<>
std::string	encode< CartesianState > (const CartesianState &obj)

template<>
CartesianState	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, CartesianState &obj)

template<>
std::string	encode< CartesianPose > (const CartesianPose &obj)

template<>
CartesianPose	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, CartesianPose &obj)

template<>
std::string	encode< CartesianPose > (const CartesianPose &obj)

template<>
CartesianPose	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, CartesianPose &obj)

template<>
std::string	encode< CartesianTwist > (const CartesianTwist &obj)

template<>
CartesianTwist	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, CartesianTwist &obj)

template<>
std::string	encode< CartesianTwist > (const CartesianTwist &obj)

template<>
CartesianTwist	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, CartesianTwist &obj)

template<>
std::string	encode< CartesianAcceleration > (const CartesianAcceleration &obj)

template<>
CartesianAcceleration	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, CartesianAcceleration &obj)

template<>
std::string	encode< CartesianAcceleration > (const CartesianAcceleration &obj)

template<>
CartesianAcceleration	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, CartesianAcceleration &obj)

template<>
std::string	encode< CartesianWrench > (const CartesianWrench &obj)

template<>
CartesianWrench	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, CartesianWrench &obj)

template<>
std::string	encode< CartesianWrench > (const CartesianWrench &obj)

template<>
CartesianWrench	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, CartesianWrench &obj)

template<>
std::string	encode< Jacobian > (const Jacobian &obj)

template<>
Jacobian	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Jacobian &obj)

template<>
std::string	encode< Jacobian > (const Jacobian &obj)

template<>
Jacobian	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Jacobian &obj)

template<>
std::string	encode< JointState > (const JointState &obj)

template<>
JointState	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, JointState &obj)

template<>
std::string	encode< JointState > (const JointState &obj)

template<>
JointState	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, JointState &obj)

template<>
std::string	encode< JointPositions > (const JointPositions &obj)

template<>
JointPositions	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, JointPositions &obj)

template<>
std::string	encode< JointPositions > (const JointPositions &obj)

template<>
JointPositions	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, JointPositions &obj)

template<>
std::string	encode< JointVelocities > (const JointVelocities &obj)

template<>
JointVelocities	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, JointVelocities &obj)

template<>
std::string	encode< JointVelocities > (const JointVelocities &obj)

template<>
JointVelocities	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, JointVelocities &obj)

template<>
std::string	encode< JointAccelerations > (const JointAccelerations &obj)

template<>
JointAccelerations	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, JointAccelerations &obj)

template<>
std::string	encode< JointAccelerations > (const JointAccelerations &obj)

template<>
JointAccelerations	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, JointAccelerations &obj)

template<>
std::string	encode< JointTorques > (const JointTorques &obj)

template<>
JointTorques	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, JointTorques &obj)

template<>
std::string	encode< JointTorques > (const JointTorques &obj)

template<>
JointTorques	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, JointTorques &obj)

template<>
std::string	encode< Parameter< int > > (const Parameter< int > &obj)

template<>
Parameter< int >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< int > &obj)

template<>
std::string	encode< Parameter< int > > (const Parameter< int > &obj)

template<>
Parameter< int >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< int > &obj)

template<>
std::string	encode< Parameter< std::vector< int > > > (const Parameter< std::vector< int > > &obj)

template<>
Parameter< std::vector< int > >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< std::vector< int > > &obj)

template<>
std::string	encode< Parameter< std::vector< int > > > (const Parameter< std::vector< int > > &obj)

template<>
Parameter< std::vector< int > >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< std::vector< int > > &obj)

template<>
std::string	encode< Parameter< double > > (const Parameter< double > &obj)

template<>
Parameter< double >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< double > &obj)

template<>
std::string	encode< Parameter< double > > (const Parameter< double > &obj)

template<>
Parameter< double >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< double > &obj)

template<>
std::string	encode< Parameter< std::vector< double > > > (const Parameter< std::vector< double > > &obj)

template<>
Parameter< std::vector< double > >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< std::vector< double > > &obj)

template<>
std::string	encode< Parameter< std::vector< double > > > (const Parameter< std::vector< double > > &obj)

template<>
Parameter< std::vector< double > >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< std::vector< double > > &obj)

template<>
std::string	encode< Parameter< bool > > (const Parameter< bool > &obj)

template<>
Parameter< bool >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< bool > &obj)

template<>
std::string	encode< Parameter< bool > > (const Parameter< bool > &obj)

template<>
Parameter< bool >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< bool > &obj)

template<>
std::string	encode< Parameter< std::vector< bool > > > (const Parameter< std::vector< bool > > &obj)

template<>
Parameter< std::vector< bool > >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< std::vector< bool > > &obj)

template<>
std::string	encode< Parameter< std::vector< bool > > > (const Parameter< std::vector< bool > > &obj)

template<>
Parameter< std::vector< bool > >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< std::vector< bool > > &obj)

template<>
std::string	encode< Parameter< std::string > > (const Parameter< std::string > &obj)

template<>
Parameter< std::string >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< std::string > &obj)

template<>
std::string	encode< Parameter< std::string > > (const Parameter< std::string > &obj)

template<>
Parameter< std::string >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< std::string > &obj)

template<>
std::string	encode< Parameter< std::vector< std::string > > > (const Parameter< std::vector< std::string > > &obj)

template<>
Parameter< std::vector< std::string > >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< std::vector< std::string > > &obj)

template<>
std::string	encode< Parameter< std::vector< std::string > > > (const Parameter< std::vector< std::string > > &obj)

template<>
Parameter< std::vector< std::string > >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< std::vector< std::string > > &obj)

template<>
std::string	encode< Parameter< Eigen::VectorXd > > (const Parameter< Eigen::VectorXd > &obj)

template<>
Parameter< Eigen::VectorXd >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< Eigen::VectorXd > &obj)

template<>
std::string	encode< Parameter< Eigen::VectorXd > > (const Parameter< Eigen::VectorXd > &obj)

template<>
Parameter< Eigen::VectorXd >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< Eigen::VectorXd > &obj)

template<>
std::string	encode< Parameter< Eigen::MatrixXd > > (const Parameter< Eigen::MatrixXd > &obj)

template<>
Parameter< Eigen::MatrixXd >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< Eigen::MatrixXd > &obj)

template<>
std::string	encode< Parameter< Eigen::MatrixXd > > (const Parameter< Eigen::MatrixXd > &obj)

template<>
Parameter< Eigen::MatrixXd >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, Parameter< Eigen::MatrixXd > &obj)

template<typename T >
std::shared_ptr< T >	safe_dynamic_pointer_cast (const std::shared_ptr< State > &state)

template<>
std::string	encode< std::shared_ptr< State > > (const std::shared_ptr< State > &obj)

template<>
std::shared_ptr< State >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, std::shared_ptr< State > &obj)

template<>
std::string	encode< std::shared_ptr< State > > (const std::shared_ptr< State > &obj)

template<>
std::shared_ptr< State >	decode (const std::string &msg)

template<>
bool	decode (const std::string &msg, std::shared_ptr< State > &obj)

StateType	decoder (const proto::StateType &message)

Eigen::Vector3d	decoder (const proto::Vector3d &message)

Eigen::Quaterniond	decoder (const proto::Quaterniond &message)

template<>
Parameter< int >	decoder (const state_representation::proto::Parameter &message)

template<>
Parameter< std::vector< int > >	decoder (const state_representation::proto::Parameter &message)

template<>
Parameter< double >	decoder (const state_representation::proto::Parameter &message)

template<>
Parameter< std::vector< double > >	decoder (const state_representation::proto::Parameter &message)

template<>
Parameter< bool >	decoder (const state_representation::proto::Parameter &message)

template<>
Parameter< std::vector< bool > >	decoder (const state_representation::proto::Parameter &message)

template<>
Parameter< std::string >	decoder (const state_representation::proto::Parameter &message)

template<>
Parameter< std::vector< std::string > >	decoder (const state_representation::proto::Parameter &message)

template<>
Parameter< Eigen::VectorXd >	decoder (const state_representation::proto::Parameter &message)

template<>
Parameter< Eigen::MatrixXd >	decoder (const state_representation::proto::Parameter &message)

template<>
state_representation::proto::Parameter	encoder (const state_representation::Parameter< int > &parameter)

template<>
state_representation::proto::Parameter	encoder (const state_representation::Parameter< std::vector< int > > &parameter)

template<>
state_representation::proto::Parameter	encoder (const state_representation::Parameter< double > &parameter)

template<>
state_representation::proto::Parameter	encoder (const state_representation::Parameter< std::vector< double > > &parameter)

template<>
state_representation::proto::Parameter	encoder (const state_representation::Parameter< bool > &parameter)

template<>
state_representation::proto::Parameter	encoder (const state_representation::Parameter< std::vector< bool > > &parameter)

template<>
state_representation::proto::Parameter	encoder (const state_representation::Parameter< std::string > &parameter)

template<>
state_representation::proto::Parameter	encoder (const state_representation::Parameter< std::vector< std::string > > &parameter)

template<>
state_representation::proto::Parameter	encoder (const state_representation::Parameter< Eigen::VectorXd > &parameter)

template<>
state_representation::proto::Parameter	encoder (const state_representation::Parameter< Eigen::MatrixXd > &parameter)

Detailed Description

Bindings to encode and decode state objects into serialised binary message.

Typedef Documentation

◆ field_length_t

clproto::field_length_t

Size type used to indicate number of fields and field data length in pack_fields() and unpack_fields() methods.

Definition at line 24 of file clproto.h.

◆ timestamp_duration_t

clproto::timestamp_duration_t

Duration type to use when representing chrono timestamps as integer count since epoch.

Definition at line 31 of file clproto.h.

Enumeration Type Documentation

◆ MessageType

enum clproto::MessageType

The MessageType enumeration contains the possible message types in the clproto.

The values and order of this enumeration are synchronized with the fields of the protobuf StateMessage type, allowing a one-to-one mapping to the StateMessage type case.

Definition at line 62 of file clproto.h.

◆ ParameterMessageType

enum clproto::ParameterMessageType

The ParameterMessageType enumeration contains the possible value types contained in a parameter message.

The values and order of this enumeration are synchronized with the fields of the protobuf ParameterValue type, allowing a one-to-one mapping to the ParameterValue type case.

Definition at line 91 of file clproto.h.

Function Documentation

◆ check_message_type()

MessageType clproto::check_message_type ( const std::string & msg )

Check which control libraries message type a serialized binary string can be decoded as, if at all.

Parameters

msg	The serialized binary string to check

Returns: The MessageType of the contained type or UNKNOWN

Definition at line 38 of file clproto.cpp.

◆ check_parameter_message_type()

ParameterMessageType clproto::check_parameter_message_type ( const std::string & msg )

Check which control libraries parameter type a serialized binary string can be decoded as, if at all.

Parameters

msg	The serialized binary string to check

Returns: The ParameterMessageType of the contained type or UNKNOWN

Definition at line 61 of file clproto.cpp.

◆ decode() [1/98]

template<typename T >

T clproto::decode ( const std::string & msg )

Decode a serialized binary string from wire format into a control libraries object instance.

Throws an exception if the message cannot be decoded into the desired type.

Template Parameters

T	The desired control libraries object type

Parameters

msg	The serialized binary string to decode

Returns: A new instance of the control libraries object

◆ decode() [2/98]

template<>

State clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [3/98]

template<>

State clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [4/98]

template<>

SpatialState clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [5/98]

template<>

SpatialState clproto::decode ( const std::string & msg )

Definition at line 214 of file clproto.cpp.

◆ decode() [6/98]

template<>

CartesianState clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [7/98]

template<>

CartesianState clproto::decode ( const std::string & msg )

Definition at line 257 of file clproto.cpp.

◆ decode() [8/98]

template<>

CartesianPose clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [9/98]

template<>

CartesianPose clproto::decode ( const std::string & msg )

Definition at line 310 of file clproto.cpp.

◆ decode() [10/98]

template<>

CartesianTwist clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [11/98]

template<>

CartesianTwist clproto::decode ( const std::string & msg )

Definition at line 356 of file clproto.cpp.

◆ decode() [12/98]

template<>

CartesianAcceleration clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [13/98]

template<>

CartesianAcceleration clproto::decode ( const std::string & msg )

Definition at line 402 of file clproto.cpp.

◆ decode() [14/98]

template<>

CartesianWrench clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [15/98]

template<>

CartesianWrench clproto::decode ( const std::string & msg )

Definition at line 448 of file clproto.cpp.

◆ decode() [16/98]

template<>

Jacobian clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [17/98]

template<>

Jacobian clproto::decode ( const std::string & msg )

Definition at line 491 of file clproto.cpp.

◆ decode() [18/98]

template<>

JointState clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [19/98]

template<>

JointState clproto::decode ( const std::string & msg )

Definition at line 539 of file clproto.cpp.

◆ decode() [20/98]

template<>

JointPositions clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [21/98]

template<>

JointPositions clproto::decode ( const std::string & msg )

Definition at line 587 of file clproto.cpp.

◆ decode() [22/98]

template<>

JointVelocities clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [23/98]

template<>

JointVelocities clproto::decode ( const std::string & msg )

Definition at line 632 of file clproto.cpp.

◆ decode() [24/98]

template<>

JointAccelerations clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [25/98]

template<>

JointAccelerations clproto::decode ( const std::string & msg )

Definition at line 677 of file clproto.cpp.

◆ decode() [26/98]

template<>

JointTorques clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [27/98]

template<>

JointTorques clproto::decode ( const std::string & msg )

Definition at line 722 of file clproto.cpp.

◆ decode() [28/98]

template<>

Parameter< int > clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [29/98]

template<>

Parameter< int > clproto::decode ( const std::string & msg )

Definition at line 807 of file clproto.cpp.

◆ decode() [30/98]

template<>

Parameter< std::vector< int > > clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [31/98]

template<>

Parameter< std::vector< int > > clproto::decode ( const std::string & msg )

Definition at line 829 of file clproto.cpp.

◆ decode() [32/98]

template<>

Parameter< double > clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [33/98]

template<>

Parameter< double > clproto::decode ( const std::string & msg )

Definition at line 851 of file clproto.cpp.

◆ decode() [34/98]

template<>

Parameter< std::vector< double > > clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [35/98]

template<>

Parameter< std::vector< double > > clproto::decode ( const std::string & msg )

Definition at line 873 of file clproto.cpp.

◆ decode() [36/98]

template<>

Parameter< bool > clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [37/98]

template<>

Parameter< bool > clproto::decode ( const std::string & msg )

Definition at line 895 of file clproto.cpp.

◆ decode() [38/98]

template<>

Parameter< std::vector< bool > > clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [39/98]

template<>

Parameter< std::vector< bool > > clproto::decode ( const std::string & msg )

Definition at line 917 of file clproto.cpp.

◆ decode() [40/98]

template<>

Parameter< std::string > clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [41/98]

template<>

Parameter< std::string > clproto::decode ( const std::string & msg )

Definition at line 939 of file clproto.cpp.

◆ decode() [42/98]

template<>

Parameter< std::vector< std::string > > clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [43/98]

template<>

Parameter< std::vector< std::string > > clproto::decode ( const std::string & msg )

Definition at line 961 of file clproto.cpp.

◆ decode() [44/98]

template<>

Parameter< Eigen::VectorXd > clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [45/98]

template<>

Parameter< Eigen::VectorXd > clproto::decode ( const std::string & msg )

Definition at line 983 of file clproto.cpp.

◆ decode() [46/98]

template<>

Parameter< Eigen::MatrixXd > clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [47/98]

template<>

Parameter< Eigen::MatrixXd > clproto::decode ( const std::string & msg )

Definition at line 1005 of file clproto.cpp.

◆ decode() [48/98]

template<>

std::shared_ptr< State > clproto::decode ( const std::string & msg )

Definition at line 171 of file clproto.cpp.

◆ decode() [49/98]

template<>

std::shared_ptr< State > clproto::decode ( const std::string & msg )

Definition at line 1115 of file clproto.cpp.

◆ decode() [50/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		CartesianAcceleration &	obj
	)

Definition at line 410 of file clproto.cpp.

◆ decode() [51/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		CartesianAcceleration &	obj
	)

Definition at line 410 of file clproto.cpp.

◆ decode() [52/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		CartesianPose &	obj
	)

Definition at line 318 of file clproto.cpp.

◆ decode() [53/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		CartesianPose &	obj
	)

Definition at line 318 of file clproto.cpp.

◆ decode() [54/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		CartesianState &	obj
	)

Definition at line 265 of file clproto.cpp.

◆ decode() [55/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		CartesianState &	obj
	)

Definition at line 265 of file clproto.cpp.

◆ decode() [56/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		CartesianTwist &	obj
	)

Definition at line 364 of file clproto.cpp.

◆ decode() [57/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		CartesianTwist &	obj
	)

Definition at line 364 of file clproto.cpp.

◆ decode() [58/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		CartesianWrench &	obj
	)

Definition at line 456 of file clproto.cpp.

◆ decode() [59/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		CartesianWrench &	obj
	)

Definition at line 456 of file clproto.cpp.

◆ decode() [60/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Jacobian &	obj
	)

Definition at line 499 of file clproto.cpp.

◆ decode() [61/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Jacobian &	obj
	)

Definition at line 499 of file clproto.cpp.

◆ decode() [62/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		JointAccelerations &	obj
	)

Definition at line 685 of file clproto.cpp.

◆ decode() [63/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		JointAccelerations &	obj
	)

Definition at line 685 of file clproto.cpp.

◆ decode() [64/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		JointPositions &	obj
	)

Definition at line 595 of file clproto.cpp.

◆ decode() [65/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		JointPositions &	obj
	)

Definition at line 595 of file clproto.cpp.

◆ decode() [66/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		JointState &	obj
	)

Definition at line 547 of file clproto.cpp.

◆ decode() [67/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		JointState &	obj
	)

Definition at line 547 of file clproto.cpp.

◆ decode() [68/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		JointTorques &	obj
	)

Definition at line 730 of file clproto.cpp.

◆ decode() [69/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		JointTorques &	obj
	)

Definition at line 730 of file clproto.cpp.

◆ decode() [70/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		JointVelocities &	obj
	)

Definition at line 640 of file clproto.cpp.

◆ decode() [71/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		JointVelocities &	obj
	)

Definition at line 640 of file clproto.cpp.

◆ decode() [72/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< bool > &	obj
	)

Definition at line 899 of file clproto.cpp.

◆ decode() [73/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< bool > &	obj
	)

Definition at line 899 of file clproto.cpp.

◆ decode() [74/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< double > &	obj
	)

Definition at line 855 of file clproto.cpp.

◆ decode() [75/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< double > &	obj
	)

Definition at line 855 of file clproto.cpp.

◆ decode() [76/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< Eigen::MatrixXd > &	obj
	)

Definition at line 1009 of file clproto.cpp.

◆ decode() [77/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< Eigen::MatrixXd > &	obj
	)

Definition at line 1009 of file clproto.cpp.

◆ decode() [78/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< Eigen::VectorXd > &	obj
	)

Definition at line 987 of file clproto.cpp.

◆ decode() [79/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< Eigen::VectorXd > &	obj
	)

Definition at line 987 of file clproto.cpp.

◆ decode() [80/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< int > &	obj
	)

Definition at line 811 of file clproto.cpp.

◆ decode() [81/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< int > &	obj
	)

Definition at line 811 of file clproto.cpp.

◆ decode() [82/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< std::string > &	obj
	)

Definition at line 943 of file clproto.cpp.

◆ decode() [83/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< std::string > &	obj
	)

Definition at line 943 of file clproto.cpp.

◆ decode() [84/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< std::vector< bool > > &	obj
	)

Definition at line 921 of file clproto.cpp.

◆ decode() [85/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< std::vector< bool > > &	obj
	)

Definition at line 921 of file clproto.cpp.

◆ decode() [86/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< std::vector< double > > &	obj
	)

Definition at line 877 of file clproto.cpp.

◆ decode() [87/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< std::vector< double > > &	obj
	)

Definition at line 877 of file clproto.cpp.

◆ decode() [88/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< std::vector< int > > &	obj
	)

Definition at line 833 of file clproto.cpp.

◆ decode() [89/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< std::vector< int > > &	obj
	)

Definition at line 833 of file clproto.cpp.

◆ decode() [90/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< std::vector< std::string > > &	obj
	)

Definition at line 965 of file clproto.cpp.

◆ decode() [91/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		Parameter< std::vector< std::string > > &	obj
	)

Definition at line 965 of file clproto.cpp.

◆ decode() [92/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		SpatialState &	obj
	)

Definition at line 222 of file clproto.cpp.

◆ decode() [93/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		SpatialState &	obj
	)

Definition at line 222 of file clproto.cpp.

◆ decode() [94/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		State &	obj
	)

Definition at line 179 of file clproto.cpp.

◆ decode() [95/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		State &	obj
	)

Definition at line 179 of file clproto.cpp.

◆ decode() [96/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		std::shared_ptr< State > &	obj
	)

Definition at line 1204 of file clproto.cpp.

◆ decode() [97/98]

template<>

bool clproto::decode	(	const std::string &	msg,
		std::shared_ptr< State > &	obj
	)

Definition at line 1204 of file clproto.cpp.

◆ decode() [98/98]

template<typename T >

bool clproto::decode	(	const std::string &	msg,
		T &	obj
	)

Exception safe decoding of a serialized binary string wire format into a control libraries object instance.

It modifies the object by reference if the decoding is successful, and leaves it unmodified otherwise.

Template Parameters

T	The desired control libraries object type

Parameters

msg	The serialized binary string to decode
obj	A reference to a control libraries object

Returns: A success status boolean

◆ decoder() [1/17]

std::vector< bool > clproto::decoder ( const google::protobuf::RepeatedField< bool > & message )

Definition at line 7 of file decoders.cpp.

◆ decoder() [2/17]

template<typename FieldT >

std::vector< FieldT > clproto::decoder ( const google::protobuf::RepeatedField< FieldT > & message )

Decoding helper method for a RepeatedField message into vector data.

Template Parameters

FieldT The datatype within the repeated field

Parameters

message A RepeatedField message

Returns: The decoded vector of data

Definition at line 53 of file decoders.h.

◆ decoder() [3/17]

template<typename FieldT >

std::vector< FieldT > clproto::decoder ( const google::protobuf::RepeatedPtrField< FieldT > & message )

Decoding helper method for a RepeatedPtrField message into vector data.

Template Parameters

FieldT The datatype within the repeated field

Parameters

message A RepeatedPtrField message

Returns: The decoded vector of data

Definition at line 58 of file decoders.h.

◆ decoder() [4/17]

Eigen::Quaterniond clproto::decoder ( const proto::Quaterniond & message )

Definition at line 21 of file decoders.cpp.

◆ decoder() [5/17]

StateType clproto::decoder ( const proto::StateType & message )

Definition at line 13 of file decoders.cpp.

◆ decoder() [6/17]

Eigen::Vector3d clproto::decoder ( const proto::Vector3d & message )

Definition at line 17 of file decoders.cpp.

◆ decoder() [7/17]

template<typename ParamT >

state_representation::Parameter< ParamT > clproto::decoder ( const state_representation::proto::Parameter & message )

Decoding helper method for the Parameter type.

Template Parameters

ParamT The type contained within the Parameter object

Parameters

message The protocol Parameter message object

Returns: The decoded control libraries Parameter object

◆ decoder() [8/17]

template<>

Parameter< int > clproto::decoder ( const state_representation::proto::Parameter & message )

Definition at line 26 of file decoders.cpp.

◆ decoder() [9/17]

template<>

Parameter< std::vector< int > > clproto::decoder ( const state_representation::proto::Parameter & message )

Definition at line 30 of file decoders.cpp.

◆ decoder() [10/17]

template<>

Parameter< double > clproto::decoder ( const state_representation::proto::Parameter & message )

Definition at line 35 of file decoders.cpp.

◆ decoder() [11/17]

template<>

Parameter< std::vector< double > > clproto::decoder ( const state_representation::proto::Parameter & message )

Definition at line 39 of file decoders.cpp.

◆ decoder() [12/17]

template<>

Parameter< bool > clproto::decoder ( const state_representation::proto::Parameter & message )

Definition at line 44 of file decoders.cpp.

◆ decoder() [13/17]

template<>

Parameter< std::vector< bool > > clproto::decoder ( const state_representation::proto::Parameter & message )

Definition at line 48 of file decoders.cpp.

◆ decoder() [14/17]

template<>

Parameter< std::string > clproto::decoder ( const state_representation::proto::Parameter & message )

Definition at line 53 of file decoders.cpp.

◆ decoder() [15/17]

template<>

Parameter< std::vector< std::string > > clproto::decoder ( const state_representation::proto::Parameter & message )

Definition at line 57 of file decoders.cpp.

◆ decoder() [16/17]

template<>

Parameter< Eigen::VectorXd > clproto::decoder ( const state_representation::proto::Parameter & message )

Definition at line 62 of file decoders.cpp.

◆ decoder() [17/17]

template<>

Parameter< Eigen::MatrixXd > clproto::decoder ( const state_representation::proto::Parameter & message )

Definition at line 69 of file decoders.cpp.

◆ encode()

template<typename T >

std::string clproto::encode ( const T & obj )

Encode a control libraries object into a serialized binary string representation (wire format).

Template Parameters

T	The provided control libraries object type

Parameters

obj	The control libraries object to encode

Returns: The serialized binary string encoding

◆ encode< CartesianAcceleration >() [1/2]

template<>

std::string clproto::encode< CartesianAcceleration > ( const CartesianAcceleration & obj )

Definition at line 393 of file clproto.cpp.

◆ encode< CartesianAcceleration >() [2/2]

template<>

std::string clproto::encode< CartesianAcceleration > ( const CartesianAcceleration & obj )

Definition at line 393 of file clproto.cpp.

◆ encode< CartesianPose >() [1/2]

template<>

std::string clproto::encode< CartesianPose > ( const CartesianPose & obj )

Definition at line 301 of file clproto.cpp.

◆ encode< CartesianPose >() [2/2]

template<>

std::string clproto::encode< CartesianPose > ( const CartesianPose & obj )

Definition at line 301 of file clproto.cpp.

◆ encode< CartesianState >() [1/2]

template<>

std::string clproto::encode< CartesianState > ( const CartesianState & obj )

Definition at line 251 of file clproto.cpp.

◆ encode< CartesianState >() [2/2]

template<>

std::string clproto::encode< CartesianState > ( const CartesianState & obj )

Definition at line 251 of file clproto.cpp.

◆ encode< CartesianTwist >() [1/2]

template<>

std::string clproto::encode< CartesianTwist > ( const CartesianTwist & obj )

Definition at line 347 of file clproto.cpp.

◆ encode< CartesianTwist >() [2/2]

template<>

std::string clproto::encode< CartesianTwist > ( const CartesianTwist & obj )

Definition at line 347 of file clproto.cpp.

◆ encode< CartesianWrench >() [1/2]

template<>

std::string clproto::encode< CartesianWrench > ( const CartesianWrench & obj )

Definition at line 439 of file clproto.cpp.

◆ encode< CartesianWrench >() [2/2]

template<>

std::string clproto::encode< CartesianWrench > ( const CartesianWrench & obj )

Definition at line 439 of file clproto.cpp.

◆ encode< Jacobian >() [1/2]

template<>

std::string clproto::encode< Jacobian > ( const Jacobian & obj )

Definition at line 485 of file clproto.cpp.

◆ encode< Jacobian >() [2/2]

template<>

std::string clproto::encode< Jacobian > ( const Jacobian & obj )

Definition at line 485 of file clproto.cpp.

◆ encode< JointAccelerations >() [1/2]

template<>

std::string clproto::encode< JointAccelerations > ( const JointAccelerations & obj )

Definition at line 668 of file clproto.cpp.

◆ encode< JointAccelerations >() [2/2]

template<>

std::string clproto::encode< JointAccelerations > ( const JointAccelerations & obj )

Definition at line 668 of file clproto.cpp.

◆ encode< JointPositions >() [1/2]

template<>

std::string clproto::encode< JointPositions > ( const JointPositions & obj )

Definition at line 578 of file clproto.cpp.

◆ encode< JointPositions >() [2/2]

template<>

std::string clproto::encode< JointPositions > ( const JointPositions & obj )

Definition at line 578 of file clproto.cpp.

◆ encode< JointState >() [1/2]

template<>

std::string clproto::encode< JointState > ( const JointState & obj )

Definition at line 533 of file clproto.cpp.

◆ encode< JointState >() [2/2]

template<>

std::string clproto::encode< JointState > ( const JointState & obj )

Definition at line 533 of file clproto.cpp.

◆ encode< JointTorques >() [1/2]

template<>

std::string clproto::encode< JointTorques > ( const JointTorques & obj )

Definition at line 713 of file clproto.cpp.

◆ encode< JointTorques >() [2/2]

template<>

std::string clproto::encode< JointTorques > ( const JointTorques & obj )

Definition at line 713 of file clproto.cpp.

◆ encode< JointVelocities >() [1/2]

template<>

std::string clproto::encode< JointVelocities > ( const JointVelocities & obj )

Definition at line 623 of file clproto.cpp.

◆ encode< JointVelocities >() [2/2]

template<>

std::string clproto::encode< JointVelocities > ( const JointVelocities & obj )

Definition at line 623 of file clproto.cpp.

◆ encode< Parameter< bool > >() [1/2]

template<>

std::string clproto::encode< Parameter< bool > > ( const Parameter< bool > & obj )

Definition at line 891 of file clproto.cpp.

◆ encode< Parameter< bool > >() [2/2]

template<>

std::string clproto::encode< Parameter< bool > > ( const Parameter< bool > & obj )

Definition at line 891 of file clproto.cpp.

◆ encode< Parameter< double > >() [1/2]

template<>

std::string clproto::encode< Parameter< double > > ( const Parameter< double > & obj )

Definition at line 847 of file clproto.cpp.

◆ encode< Parameter< double > >() [2/2]

template<>

std::string clproto::encode< Parameter< double > > ( const Parameter< double > & obj )

Definition at line 847 of file clproto.cpp.

◆ encode< Parameter< Eigen::MatrixXd > >() [1/2]

template<>

std::string clproto::encode< Parameter< Eigen::MatrixXd > > ( const Parameter< Eigen::MatrixXd > & obj )

Definition at line 1001 of file clproto.cpp.

◆ encode< Parameter< Eigen::MatrixXd > >() [2/2]

template<>

std::string clproto::encode< Parameter< Eigen::MatrixXd > > ( const Parameter< Eigen::MatrixXd > & obj )

Definition at line 1001 of file clproto.cpp.

◆ encode< Parameter< Eigen::VectorXd > >() [1/2]

template<>

std::string clproto::encode< Parameter< Eigen::VectorXd > > ( const Parameter< Eigen::VectorXd > & obj )

Definition at line 979 of file clproto.cpp.

◆ encode< Parameter< Eigen::VectorXd > >() [2/2]

template<>

std::string clproto::encode< Parameter< Eigen::VectorXd > > ( const Parameter< Eigen::VectorXd > & obj )

Definition at line 979 of file clproto.cpp.

◆ encode< Parameter< int > >() [1/2]

template<>

std::string clproto::encode< Parameter< int > > ( const Parameter< int > & obj )

Definition at line 803 of file clproto.cpp.

◆ encode< Parameter< int > >() [2/2]

template<>

std::string clproto::encode< Parameter< int > > ( const Parameter< int > & obj )

Definition at line 803 of file clproto.cpp.

◆ encode< Parameter< std::string > >() [1/2]

template<>

std::string clproto::encode< Parameter< std::string > > ( const Parameter< std::string > & obj )

Definition at line 935 of file clproto.cpp.

◆ encode< Parameter< std::string > >() [2/2]

template<>

std::string clproto::encode< Parameter< std::string > > ( const Parameter< std::string > & obj )

Definition at line 935 of file clproto.cpp.

◆ encode< Parameter< std::vector< bool > > >() [1/2]

template<>

std::string clproto::encode< Parameter< std::vector< bool > > > ( const Parameter< std::vector< bool > > & obj )

Definition at line 913 of file clproto.cpp.

◆ encode< Parameter< std::vector< bool > > >() [2/2]

template<>

std::string clproto::encode< Parameter< std::vector< bool > > > ( const Parameter< std::vector< bool > > & obj )

Definition at line 913 of file clproto.cpp.

◆ encode< Parameter< std::vector< double > > >() [1/2]

template<>

std::string clproto::encode< Parameter< std::vector< double > > > ( const Parameter< std::vector< double > > & obj )

Definition at line 869 of file clproto.cpp.

◆ encode< Parameter< std::vector< double > > >() [2/2]

template<>

std::string clproto::encode< Parameter< std::vector< double > > > ( const Parameter< std::vector< double > > & obj )

Definition at line 869 of file clproto.cpp.

◆ encode< Parameter< std::vector< int > > >() [1/2]

template<>

std::string clproto::encode< Parameter< std::vector< int > > > ( const Parameter< std::vector< int > > & obj )

Definition at line 825 of file clproto.cpp.

◆ encode< Parameter< std::vector< int > > >() [2/2]

template<>

std::string clproto::encode< Parameter< std::vector< int > > > ( const Parameter< std::vector< int > > & obj )

Definition at line 825 of file clproto.cpp.

◆ encode< Parameter< std::vector< std::string > > >() [1/2]

template<>

std::string clproto::encode< Parameter< std::vector< std::string > > > ( const Parameter< std::vector< std::string > > & obj )

Definition at line 957 of file clproto.cpp.

◆ encode< Parameter< std::vector< std::string > > >() [2/2]

template<>

std::string clproto::encode< Parameter< std::vector< std::string > > > ( const Parameter< std::vector< std::string > > & obj )

Definition at line 957 of file clproto.cpp.

◆ encode< SpatialState >() [1/2]

template<>

std::string clproto::encode< SpatialState > ( const SpatialState & obj )

Definition at line 208 of file clproto.cpp.

◆ encode< SpatialState >() [2/2]

template<>

std::string clproto::encode< SpatialState > ( const SpatialState & obj )

Definition at line 208 of file clproto.cpp.

◆ encode< State >() [1/2]

template<>

std::string clproto::encode< State > ( const State & obj )

Definition at line 165 of file clproto.cpp.

◆ encode< State >() [2/2]

template<>

std::string clproto::encode< State > ( const State & obj )

Definition at line 165 of file clproto.cpp.

◆ encode< std::shared_ptr< State > >() [1/2]

template<>

std::string clproto::encode< std::shared_ptr< State > > ( const std::shared_ptr< State > & obj )

Definition at line 1028 of file clproto.cpp.

◆ encode< std::shared_ptr< State > >() [2/2]

template<>

std::string clproto::encode< std::shared_ptr< State > > ( const std::shared_ptr< State > & obj )

Definition at line 1028 of file clproto.cpp.

◆ encoder() [1/20]

proto::Quaterniond clproto::encoder ( const Eigen::Quaterniond & quaternion )

Definition at line 40 of file encoders.cpp.

◆ encoder() [2/20]

proto::Vector3d clproto::encoder ( const Eigen::Vector3d & vector )

Definition at line 32 of file encoders.cpp.

◆ encoder() [3/20]

proto::CartesianState clproto::encoder ( const state_representation::CartesianState & cartesian_state )

Definition at line 47 of file encoders.cpp.

◆ encoder() [4/20]

proto::Jacobian clproto::encoder ( const state_representation::Jacobian & jacobian )

Definition at line 64 of file encoders.cpp.

◆ encoder() [5/20]

proto::JointState clproto::encoder ( const state_representation::JointState & joint_state )

Definition at line 79 of file encoders.cpp.

◆ encoder() [6/20]

template<>

state_representation::proto::Parameter clproto::encoder ( const state_representation::Parameter< bool > & parameter )

Definition at line 126 of file encoders.cpp.

◆ encoder() [7/20]

template<>

state_representation::proto::Parameter clproto::encoder ( const state_representation::Parameter< double > & parameter )

Definition at line 110 of file encoders.cpp.

◆ encoder() [8/20]

template<>

state_representation::proto::Parameter clproto::encoder ( const state_representation::Parameter< Eigen::MatrixXd > & parameter )

Definition at line 165 of file encoders.cpp.

◆ encoder() [9/20]

template<>

state_representation::proto::Parameter clproto::encoder ( const state_representation::Parameter< Eigen::VectorXd > & parameter )

Definition at line 157 of file encoders.cpp.

◆ encoder() [10/20]

template<>

state_representation::proto::Parameter clproto::encoder ( const state_representation::Parameter< int > & parameter )

Definition at line 94 of file encoders.cpp.

◆ encoder() [11/20]

template<typename ParamT >

state_representation::proto::Parameter clproto::encoder ( const state_representation::Parameter< ParamT > & parameter )

Encoding helper method for the Parameter type.

Template Parameters

ParamT The type contained within the Parameter object

Parameters

parameter The control libraries Parameter object

Returns: The encoded protocol Parameter message object

◆ encoder() [12/20]

template<>

state_representation::proto::Parameter clproto::encoder ( const state_representation::Parameter< std::string > & parameter )

Definition at line 141 of file encoders.cpp.

◆ encoder() [13/20]

template<>

state_representation::proto::Parameter clproto::encoder ( const state_representation::Parameter< std::vector< bool > > & parameter )

Definition at line 133 of file encoders.cpp.

◆ encoder() [14/20]

template<>

state_representation::proto::Parameter clproto::encoder ( const state_representation::Parameter< std::vector< double > > & parameter )

Definition at line 118 of file encoders.cpp.

◆ encoder() [15/20]

template<>

state_representation::proto::Parameter clproto::encoder ( const state_representation::Parameter< std::vector< int > > & parameter )

Definition at line 102 of file encoders.cpp.

◆ encoder() [16/20]

template<>

state_representation::proto::Parameter clproto::encoder ( const state_representation::Parameter< std::vector< std::string > > & parameter )

Definition at line 149 of file encoders.cpp.

◆ encoder() [17/20]

proto::SpatialState clproto::encoder ( const state_representation::SpatialState & spatial_state )

Definition at line 25 of file encoders.cpp.

◆ encoder() [18/20]

proto::State clproto::encoder ( const state_representation::State & state )

Definition at line 15 of file encoders.cpp.

◆ encoder() [19/20]

proto::StateType clproto::encoder ( const state_representation::StateType & type )

Definition at line 11 of file encoders.cpp.

◆ encoder() [20/20]

template<typename FieldT >

google::protobuf::RepeatedField< FieldT > clproto::encoder ( const std::vector< FieldT > & data )

Encoding helper method for vector data into a RepeatedField message type.

Template Parameters

FieldT The datatype within the repeated field

Parameters

data	A vector of data

Returns: The encoded RepeatedField protocol message object

Definition at line 60 of file encoders.h.

◆ from_json() [1/2]

template<typename T >

T clproto::from_json ( const std::string & json )

Convert a JSON formatted state message description into a control libraries object instance.

Throws an exception if the message cannot be converted into the desired type.

Template Parameters

T	The desired control libraries object type

Parameters

json	The JSON formatted state message description

Returns: A new instance of the control libraries object

Definition at line 232 of file clproto.h.

◆ from_json() [2/2]

std::string clproto::from_json ( const std::string & json )

Convert a JSON formatted state message description into a serialized binary string representation (wire format).

Throws an exception if the message cannot be decoded into the desired type.

Parameters

json	The JSON formatted state message description

Returns: The serialized binary string encoding

Definition at line 137 of file clproto.cpp.

◆ is_valid()

bool clproto::is_valid ( const std::string & msg )

Check if a serialized binary string can be decoded into a support control libraries message type.

Parameters

msg	The serialized binary string to check

Returns: True if the message can be decoded, false otherwise

Definition at line 34 of file clproto.cpp.

◆ matrix_encoder()

google::protobuf::RepeatedField< double > clproto::matrix_encoder ( const Eigen::MatrixXd & matrix )

Encoding helper method for Eigen data into a RepeatedField message type.

Parameters

matrix An Eigen matrix of data

Returns: The encoded RepeatedField protocol message object

Definition at line 7 of file encoders.cpp.

◆ pack_fields()

void clproto::pack_fields	(	const std::vector< std::string > &	fields,
		char *	data
	)

Pack an ordered vector of encoded field messages into a single data array.

To send multiple messages in one packet, there must be some delimiting logic to distinguish the end of one field from the start of the next. This packing function encodes the number of fields (N) as the first data entry in the packet, then the size of each field in the next N data entries, followed by the raw concatenated data of each field. The order of the original vector is preserved. The corresponding unpack_fields() method can be used to restore the original vector of fields from the data buffer.

Parameters

	fields	An ordered vector of encoded message fields
[out]	data	A raw data array to be packed with the fields

Definition at line 70 of file clproto.cpp.

◆ safe_dynamic_pointer_cast()

template<typename T >

std::shared_ptr< T > clproto::safe_dynamic_pointer_cast ( const std::shared_ptr< State > & state )

Definition at line 1017 of file clproto.cpp.

◆ to_json() [1/2]

std::string clproto::to_json ( const std::string & msg )

Convert a serialized binary string from wire format into a JSON formatted state message description.

Parameters

msg	The serialized binary string to decode

Returns: The JSON formatted state message description

Definition at line 120 of file clproto.cpp.

◆ to_json() [2/2]

template<typename T >

std::string clproto::to_json ( const T & obj )

Convert a control libraries object into into a JSON formatted state message description.

Template Parameters

T	The provided control libraries object type

Parameters

obj	The control libraries object to encode

Returns: The JSON formatted state message description

Definition at line 208 of file clproto.h.

◆ unpack_fields()

std::vector< std::string > clproto::unpack_fields ( const char * data )

Unpack a data array into an ordered vector of encoded field messages.

A buffer of encoded fields serialized by pack_fields() can be unpacked by this method. It expects the first data entry in the data buffer to contain the number of fields (N). The next N data entries then must contain the data length of each subsequent field. Finally, the rest of the data is broken into ordered fields based on the interpreted field data lengths.

Parameters

data	A raw data array that has been packed by pack_fields()

Returns: An ordered vector of encoded message fields

Definition at line 94 of file clproto.cpp.

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ field_length_t

◆ timestamp_duration_t

Enumeration Type Documentation

◆ MessageType

◆ ParameterMessageType

Function Documentation

◆ check_message_type()

◆ check_parameter_message_type()

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