Core state variables and objects. More...

Classes
class	CartesianAcceleration
	Class to define acceleration in cartesian space as 3D linear and angular acceleration vectors. More...

class	CartesianPose
	Class to define CartesianPose in cartesian space as 3D position and quaternion based orientation. More...

class	CartesianState
	Class to represent a state in Cartesian space. More...

class	CartesianTwist
	Class to define twist in cartesian space as 3D linear and angular velocity vectors. More...

class	CartesianWrench
	Class to define wrench in cartesian space as 3D force and torque vectors. More...

class	DualQuaternionPose
	Class to represent a Pose in Dual Quaternion space. More...

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

class	DualQuaternionTwist
	Class to represent a Twist in Dual Quaternion space. More...

class	Ellipsoid

class	Event
	An event is a predicate with memory. Its purpose is to be true only once and change value only when the underlying predicate has changed from true to false and back to true since last reading. More...

class	Jacobian
	Class to define a robot Jacobian matrix. More...

class	JointAccelerations
	Class to define accelerations of the joints. More...

class	JointPositions
	Class to define a positions of the joints. More...

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

class	JointTorques
	Class to define torques of the joints. More...

class	JointVelocities
	Class to define velocities of the joints. More...

class	Parameter

class	ParameterInterface

class	ParameterMap
	A wrapper class to contain a map of Parameter pointers by name and provide robust access methods. More...

class	Predicate
	A predicate is a boolean parameter as in the logic formalism. More...

class	Shape

class	SpatialState

class	State
	Abstract class to represent a state. More...

class	Trajectory

Typedefs
typedef std::list< std::shared_ptr< ParameterInterface > >	ParameterInterfaceList

typedef std::map< std::string, std::shared_ptr< ParameterInterface > >	ParameterInterfaceMap

Enumerations
enum class	ParameterType { BOOL , BOOL_ARRAY , INT , INT_ARRAY , DOUBLE , DOUBLE_ARRAY , STRING , STRING_ARRAY , STATE , VECTOR , MATRIX }
	The parameter value types. More...

enum class	CartesianStateVariable { POSITION , ORIENTATION , POSE , LINEAR_VELOCITY , ANGULAR_VELOCITY , TWIST , LINEAR_ACCELERATION , ANGULAR_ACCELERATION , ACCELERATION , FORCE , TORQUE , WRENCH , ALL }

enum class	JointStateVariable { POSITIONS , VELOCITIES , ACCELERATIONS , TORQUES , ALL }
	Enum representing all the fields (positions, velocities, accelerations and torques) of the JointState. More...

enum class	StateType { NONE , STATE , SPATIAL_STATE , CARTESIAN_STATE , CARTESIAN_POSE , CARTESIAN_TWIST , CARTESIAN_ACCELERATION , CARTESIAN_WRENCH , JOINT_STATE , JOINT_POSITIONS , JOINT_VELOCITIES , JOINT_ACCELERATIONS , JOINT_TORQUES , JACOBIAN , PARAMETER , GEOMETRY_SHAPE , GEOMETRY_ELLIPSOID , TRAJECTORY }
	The class types inheriting from State. More...

Functions
double	dist (const CartesianState &s1, const CartesianState &s2, const CartesianStateVariable &state_variable_type=CartesianStateVariable::ALL)
	compute the distance between two CartesianStates More...

void	swap (CartesianState &state1, CartesianState &state2)

void	swap (Jacobian &jacobian1, Jacobian &jacobian2)

double	dist (const JointState &s1, const JointState &s2, const JointStateVariable &state_variable_type=JointStateVariable::ALL)
	Compute the distance between two JointState. More...

void	swap (JointState &state1, JointState &state2)

void	swap (SpatialState &state1, SpatialState &state2)

void	swap (State &state1, State &state2)

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

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

std::ostream &	operator<< (std::ostream &os, const Shape &shape)

std::ostream &	operator<< (std::ostream &os, const Event &event)

template<typename T >
std::ostream &	operator<< (std::ostream &os, const Parameter< T > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< int > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< double > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< bool > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< std::string > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< CartesianState > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< CartesianPose > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< JointState > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< JointPositions > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< Ellipsoid > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< Eigen::MatrixXd > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< Eigen::VectorXd > &parameter)

template<>
std::ostream &	operator<< (std::ostream &os, const Parameter< std::vector< int > > &parameter)

template<>
std::ostream &	operator<< (std::ostream &os, const Parameter< std::vector< double > > &parameter)

template<>
std::ostream &	operator<< (std::ostream &os, const Parameter< std::vector< bool > > &parameter)

template<>
std::ostream &	operator<< (std::ostream &os, const Parameter< std::vector< std::string > > &parameter)

std::ostream &	operator<< (std::ostream &os, const Predicate &predicate)

std::ostream &	operator<< (std::ostream &os, const CartesianAcceleration &acceleration)

CartesianAcceleration	operator* (const CartesianState &state, const CartesianAcceleration &acceleration)

CartesianAcceleration	operator* (double lambda, const CartesianAcceleration &acceleration)

CartesianAcceleration	operator* (const Eigen::Matrix< double, 6, 6 > &lambda, const CartesianAcceleration &acceleration)

CartesianTwist	operator* (const std::chrono::nanoseconds &dt, const CartesianAcceleration &acceleration)

std::ostream &	operator<< (std::ostream &os, const CartesianPose &pose)

CartesianPose	operator* (const CartesianState &state, const CartesianPose &pose)

CartesianPose	operator* (double lambda, const CartesianPose &pose)

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

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

std::ostream &	operator<< (std::ostream &os, const CartesianTwist &twist)

CartesianTwist	operator* (const CartesianState &state, const CartesianTwist &twist)

CartesianTwist	operator* (double lambda, const CartesianTwist &twist)

CartesianTwist	operator* (const Eigen::Matrix< double, 6, 6 > &lambda, const CartesianTwist &twist)

CartesianPose	operator* (const std::chrono::nanoseconds &dt, const CartesianTwist &twist)

std::ostream &	operator<< (std::ostream &os, const CartesianWrench &wrench)

CartesianWrench	operator* (const CartesianState &state, const CartesianWrench &wrench)

CartesianWrench	operator* (double lambda, const CartesianWrench &wrench)

const DualQuaternionState	log (const DualQuaternionPose &state)

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

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

const DualQuaternionState	exp (const DualQuaternionState &state)

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

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

std::ostream &	operator<< (std::ostream &os, const Jacobian &jacobian)

Jacobian	operator* (const CartesianPose &pose, const Jacobian &jacobian)

Eigen::MatrixXd	operator* (const Eigen::MatrixXd &matrix, const Jacobian &jacobian)

std::ostream &	operator<< (std::ostream &os, const JointAccelerations &accelerations)

JointAccelerations	operator* (double lambda, const JointAccelerations &accelerations)

JointAccelerations	operator* (const Eigen::ArrayXd &lambda, const JointAccelerations &accelerations)

JointAccelerations	operator* (const Eigen::MatrixXd &lambda, const JointAccelerations &accelerations)

JointVelocities	operator* (const std::chrono::nanoseconds &dt, const JointAccelerations &accelerations)

std::ostream &	operator<< (std::ostream &os, const JointPositions &positions)

JointPositions	operator* (double lambda, const JointPositions &positions)

JointPositions	operator* (const Eigen::ArrayXd &lambda, const JointPositions &positions)

JointPositions	operator* (const Eigen::MatrixXd &lambda, const JointPositions &positions)

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

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

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

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

std::ostream &	operator<< (std::ostream &os, const JointTorques &torques)

JointTorques	operator* (double lambda, const JointTorques &torques)

JointTorques	operator* (const Eigen::ArrayXd &lambda, const JointTorques &torques)

JointTorques	operator* (const Eigen::MatrixXd &lambda, const JointTorques &torques)

std::ostream &	operator<< (std::ostream &os, const JointVelocities &velocities)

JointVelocities	operator* (double lambda, const JointVelocities &velocities)

JointVelocities	operator* (const Eigen::ArrayXd &lambda, const JointVelocities &velocities)

JointVelocities	operator* (const Eigen::MatrixXd &lambda, const JointVelocities &velocities)

JointPositions	operator* (const std::chrono::nanoseconds &dt, const JointVelocities &velocities)

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

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

Detailed Description

Core state variables and objects.

Typedef Documentation

◆ ParameterInterfaceList

typedef std::list<std::shared_ptr<ParameterInterface> > state_representation::ParameterInterfaceList

Definition at line 12 of file ParameterMap.hpp.

◆ ParameterInterfaceMap

typedef std::map<std::string, std::shared_ptr<ParameterInterface> > state_representation::ParameterInterfaceMap

Definition at line 13 of file ParameterMap.hpp.

Enumeration Type Documentation

◆ CartesianStateVariable

enum class state_representation::CartesianStateVariable

strong

Definition at line 14 of file CartesianState.hpp.

◆ JointStateVariable

enum class state_representation::JointStateVariable

strong

Enum representing all the fields (positions, velocities, accelerations and torques) of the JointState.

Definition at line 16 of file JointState.hpp.

◆ ParameterType

enum class state_representation::ParameterType

strong

The parameter value types.

Definition at line 9 of file ParameterType.hpp.

◆ StateType

enum class state_representation::StateType

strong

The class types inheriting from State.

Definition at line 13 of file StateType.hpp.

Function Documentation

◆ dist() [1/2]

double state_representation::dist	(	const CartesianState &	s1,
		const CartesianState &	s2,
		const CartesianStateVariable &	state_variable_type = `CartesianStateVariable::ALL`
	)

compute the distance between two CartesianStates

Parameters

s1	the first CartesianState
s2	the second CartesianState
state_variable_type	name of the state variable from the CartesianStateVariable structure to apply the distance on. Default ALL for full distance across all dimensions

Returns: the distance between the two states

Definition at line 679 of file CartesianState.cpp.

◆ dist() [2/2]

double state_representation::dist	(	const JointState &	s1,
		const JointState &	s2,
		const JointStateVariable &	state_variable_type = `JointStateVariable::ALL`
	)

Compute the distance between two JointState.

Parameters

s1	The first JointState
s2	The second JointState
state_variable_type	Name of the field from the JointStateVariable structure to apply the distance on (default ALL for full distance across all dimensions)

Returns: The distance between the two states

Definition at line 439 of file JointState.cpp.

◆ exp()

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

Parameters

state the DualQuaternion to operate on

Returns: the exponential of the DualQuaternion provided

Definition at line 62 of file DualQuaternionState.cpp.

◆ log()

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

Parameters

state the dual quaternion to calcualte the log on

Returns: the log of the dual quaternion

Definition at line 94 of file DualQuaternionPose.cpp.

◆ make_shared_state()

template<typename T >

std::shared_ptr< State > state_representation::make_shared_state ( const T & state )

Definition at line 201 of file State.hpp.

◆ operator*() [1/33]

Jacobian state_representation::operator*	(	const CartesianPose &	pose,
		const Jacobian &	jacobian
	)

Parameters

pose	the CartesianPose to multiply with
jacobian	the Jacobian to be multiplied with the CartesianPose

Returns: the Jacobian expressed in the new reference frame

Definition at line 288 of file Jacobian.cpp.

◆ operator*() [2/33]

CartesianAcceleration state_representation::operator*	(	const CartesianState &	state,
		const CartesianAcceleration &	acceleration
	)

Parameters

state the state to multiply with

Returns: the CartesianAcceleration provided multiplied by the state

Definition at line 183 of file CartesianAcceleration.cpp.

◆ operator*() [3/33]

CartesianPose state_representation::operator*	(	const CartesianState &	state,
		const CartesianPose &	pose
	)

Parameters

state the state to multiply with

Returns: the CartesianPose provided multiplied by the state

Definition at line 197 of file CartesianPose.cpp.

◆ operator*() [4/33]

CartesianTwist state_representation::operator*	(	const CartesianState &	state,
		const CartesianTwist &	twist
	)

Parameters

state the state to multiply with

Returns: the CartesianTwist provided multiplied by the state

Definition at line 205 of file CartesianTwist.cpp.

◆ operator*() [5/33]

CartesianWrench state_representation::operator*	(	const CartesianState &	state,
		const CartesianWrench &	wrench
	)

Parameters

state the state to multiply with

Returns: the CartesianWrench provided multiplied by the state

Definition at line 149 of file CartesianWrench.cpp.

◆ operator*() [6/33]

JointAccelerations state_representation::operator*	(	const Eigen::ArrayXd &	lambda,
		const JointAccelerations &	accelerations
	)

Parameters

lambda the array to multiply with

Returns: the JointAccelerations provided multiply by lambda

Definition at line 195 of file JointAccelerations.cpp.

◆ operator*() [7/33]

JointPositions state_representation::operator*	(	const Eigen::ArrayXd &	lambda,
		const JointPositions &	positions
	)

Parameters

lambda the array to multiply with

Returns: the JointPositions provided multiply by lambda

Definition at line 195 of file JointPositions.cpp.

◆ operator*() [8/33]

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

Parameters

lambda The gain array to multiply with

Returns: The JointState provided multiply by lambda

Definition at line 456 of file JointState.cpp.

◆ operator*() [9/33]

JointTorques state_representation::operator*	(	const Eigen::ArrayXd &	lambda,
		const JointTorques &	torques
	)

Parameters

lambda the array to multiply with

Returns: the JointTorques provided multiply by lambda

Definition at line 174 of file JointTorques.cpp.

◆ operator*() [10/33]

JointVelocities state_representation::operator*	(	const Eigen::ArrayXd &	lambda,
		const JointVelocities &	velocities
	)

Parameters

lambda the array to multiply with

Returns: the JointVelocities provided multiply by lambda

Definition at line 209 of file JointVelocities.cpp.

◆ operator*() [11/33]

CartesianAcceleration state_representation::operator*	(	const Eigen::Matrix< double, 6, 6 > &	lambda,
		const CartesianAcceleration &	acceleration
	)

Parameters

lambda the matrix to multiply with

Returns: the CartesianAcceleration provided multiplied by lambda

Definition at line 191 of file CartesianAcceleration.cpp.

◆ operator*() [12/33]

CartesianTwist state_representation::operator*	(	const Eigen::Matrix< double, 6, 6 > &	lambda,
		const CartesianTwist &	twist
	)

Parameters

lambda the matrix to multiply with

Returns: the CartesianTwist provided multiplied by lambda

Definition at line 213 of file CartesianTwist.cpp.

◆ operator*() [13/33]

JointAccelerations state_representation::operator*	(	const Eigen::MatrixXd &	lambda,
		const JointAccelerations &	accelerations
	)

Parameters

lambda the matrix to multiply with

Returns: the JointAccelerations provided multiply by lambda

Definition at line 201 of file JointAccelerations.cpp.

◆ operator*() [14/33]

JointPositions state_representation::operator*	(	const Eigen::MatrixXd &	lambda,
		const JointPositions &	positions
	)

Parameters

lambda the matrix to multiply with

Returns: the JointPositions provided multiply by lambda

Definition at line 201 of file JointPositions.cpp.

◆ operator*() [15/33]

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

Parameters

lambda The matrix to multiply with

Returns: The JointState provided multiply by lambda

Definition at line 450 of file JointState.cpp.

◆ operator*() [16/33]

JointTorques state_representation::operator*	(	const Eigen::MatrixXd &	lambda,
		const JointTorques &	torques
	)

Parameters

lambda the matrix to multiply with

Returns: the JointTorques provided multiply by lambda

Definition at line 180 of file JointTorques.cpp.

◆ operator*() [17/33]

JointVelocities state_representation::operator*	(	const Eigen::MatrixXd &	lambda,
		const JointVelocities &	velocities
	)

Parameters

lambda the matrix to multiply with

Returns: the JointVelocities provided multiply by lambda

Definition at line 215 of file JointVelocities.cpp.

◆ operator*() [18/33]

Eigen::MatrixXd state_representation::operator*	(	const Eigen::MatrixXd &	matrix,
		const Jacobian &	jacobian
	)

Parameters

matrix	the matrix to multiply with
jacobian	the jacobian matrix

Returns: the matrix multiplied by the jacobian matrix

Definition at line 318 of file Jacobian.cpp.

◆ operator*() [19/33]

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

Parameters

lambda the scalar to multiply with

Returns: the DualQuaternionState provided multiply by lambda

Definition at line 55 of file DualQuaternionState.cpp.

◆ operator*() [20/33]

CartesianTwist state_representation::operator*	(	const std::chrono::nanoseconds &	dt,
		const CartesianAcceleration &	acceleration
	)

Parameters

dt	the time period to multiply with

Returns: the CartesianTwist corresponding to the velocity over the time period

Definition at line 197 of file CartesianAcceleration.cpp.

◆ operator*() [21/33]

CartesianPose state_representation::operator*	(	const std::chrono::nanoseconds &	dt,
		const CartesianTwist &	twist
	)

Parameters

dt	the time period to multiply with

Returns: the CartesianPose corresponding to the displacement over the time period

Definition at line 219 of file CartesianTwist.cpp.

◆ operator*() [22/33]

JointVelocities state_representation::operator*	(	const std::chrono::nanoseconds &	dt,
		const JointAccelerations &	accelerations
	)

Parameters

dt	the time period to multiply with

Returns: the JointVelocities corresponding to the velocities over the time period

Definition at line 207 of file JointAccelerations.cpp.

◆ operator*() [23/33]

JointPositions state_representation::operator*	(	const std::chrono::nanoseconds &	dt,
		const JointVelocities &	velocities
	)

Parameters

dt	the time period to multiply with

Returns: the JointPositions corresponding to the displacement over the time period

Definition at line 221 of file JointVelocities.cpp.

◆ operator*() [24/33]

CartesianAcceleration state_representation::operator*	(	double	lambda,
		const CartesianAcceleration &	acceleration
	)

Parameters

lambda the scalar to multiply with

Returns: the CartesianAcceleration provided multiplied by lambda

Definition at line 187 of file CartesianAcceleration.cpp.

◆ operator*() [25/33]

CartesianPose state_representation::operator*	(	double	lambda,
		const CartesianPose &	pose
	)

Parameters

lambda the scalar to multiply with

Returns: the CartesianPose provided multiplied by lambda

Definition at line 201 of file CartesianPose.cpp.

◆ operator*() [26/33]

CartesianState state_representation::operator*	(	double	lambda,
		const CartesianState &	state
	)

Parameters

lambda the scalar to multiply with

Returns: the CartesianState provided multiply by lambda

Definition at line 675 of file CartesianState.cpp.

◆ operator*() [27/33]

CartesianTwist state_representation::operator*	(	double	lambda,
		const CartesianTwist &	twist
	)

Parameters

lambda the scalar to multiply with

Returns: the CartesianTwist provided multiplied by lambda

Definition at line 209 of file CartesianTwist.cpp.

◆ operator*() [28/33]

CartesianWrench state_representation::operator*	(	double	lambda,
		const CartesianWrench &	wrench
	)

Parameters

lambda the scalar to multiply with

Returns: the CartesianWrench provided multiplied by lambda

Definition at line 153 of file CartesianWrench.cpp.

◆ operator*() [29/33]

JointAccelerations state_representation::operator*	(	double	lambda,
		const JointAccelerations &	accelerations
	)

Parameters

lambda the scalar to multiply with

Returns: the JointAccelerations provided multiply by lambda

Definition at line 189 of file JointAccelerations.cpp.

◆ operator*() [30/33]

JointPositions state_representation::operator*	(	double	lambda,
		const JointPositions &	positions
	)

Parameters

lambda the scalar to multiply with

Returns: the JointPositions provided multiply by lambda

Definition at line 189 of file JointPositions.cpp.

◆ operator*() [31/33]

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

Parameters

lambda The scalar to multiply with

Returns: The JointState provided multiply by lambda

Definition at line 443 of file JointState.cpp.

◆ operator*() [32/33]

JointTorques state_representation::operator*	(	double	lambda,
		const JointTorques &	torques
	)

Parameters

lambda the scalar to multiply with

Returns: the JointTorques provided multiply by lambda

Definition at line 168 of file JointTorques.cpp.

◆ operator*() [33/33]

JointVelocities state_representation::operator*	(	double	lambda,
		const JointVelocities &	velocities
	)

Parameters

lambda the scalar to multiply with

Returns: the JointVelocities provided multiply by lambda

Definition at line 203 of file JointVelocities.cpp.

◆ operator<<() [1/25]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const CartesianAcceleration &	acceleration
	)

Parameters

os	the ostream to append the string representing the CartesianAcceleration to
CartesianAcceleration	the CartesianAcceleration to print

Returns: the appended ostream

Definition at line 167 of file CartesianAcceleration.cpp.

◆ operator<<() [2/25]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const CartesianPose &	pose
	)

Parameters

os	the ostream to append the string representing the CartesianPose to
CartesianPose	the CartesianPose to print

Returns: the appended ostream

Definition at line 176 of file CartesianPose.cpp.

◆ operator<<() [3/25]

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

Parameters

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

Returns: the appended ostream

Definition at line 636 of file CartesianState.cpp.

◆ operator<<() [4/25]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const CartesianTwist &	twist
	)

Parameters

os	the ostream to append the string representing the CartesianTwist to
CartesianTwist	the CartesianTwist to print

Returns: the appended ostream

Definition at line 190 of file CartesianTwist.cpp.

◆ operator<<() [5/25]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const CartesianWrench &	wrench
	)

Parameters

os	the ostream to append the string representing the CartesianWrench to
CartesianWrench	the CartesianWrench to print

Returns: the appended ostream

Definition at line 133 of file CartesianWrench.cpp.

◆ operator<<() [6/25]

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

Parameters

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

Returns: the appended ostream

Definition at line 104 of file DualQuaternionPose.cpp.

◆ operator<<() [7/25]

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

Parameters

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

Returns: the appended ostream

Definition at line 83 of file DualQuaternionState.cpp.

◆ operator<<() [8/25]

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

Parameters

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

Returns: the appended ostream

Definition at line 41 of file DualQuaternionTwist.cpp.

◆ operator<<() [9/25]

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

Parameters

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

Returns: the appended ostream

Definition at line 185 of file Ellipsoid.cpp.

◆ operator<<() [10/25]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const Event &	event
	)

Parameters

os	The ostream to append the string representing the Event to
predicate	The Event to print

Returns: The appended ostream

Definition at line 7 of file Event.cpp.

◆ operator<<() [11/25]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const Jacobian &	jacobian
	)

Parameters

os	the ostream to append the string representing the matrix to
jacobian	the Jacobian to print

Returns: the appended ostream

Definition at line 263 of file Jacobian.cpp.

◆ operator<<() [12/25]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const JointAccelerations &	accelerations
	)

Parameters

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

Returns: the appended ostream

Definition at line 174 of file JointAccelerations.cpp.

◆ operator<<() [13/25]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const JointPositions &	positions
	)

Parameters

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

Returns: the appended ostream

Definition at line 174 of file JointPositions.cpp.

◆ operator<<() [14/25]

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

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.

◆ operator<<() [15/25]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const JointTorques &	torques
	)

Parameters

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

Returns: the appended ostream

Definition at line 153 of file JointTorques.cpp.

◆ operator<<() [16/25]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const JointVelocities &	velocities
	)

Parameters

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

Returns: the appended ostream

Definition at line 188 of file JointVelocities.cpp.

◆ operator<<() [17/25]

template<>

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const Parameter< std::vector< bool > > &	parameter
	)

Definition at line 208 of file Parameter.cpp.

◆ operator<<() [18/25]

template<>

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const Parameter< std::vector< double > > &	parameter
	)

Definition at line 194 of file Parameter.cpp.

◆ operator<<() [19/25]

template<>

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const Parameter< std::vector< int > > &	parameter
	)

Definition at line 180 of file Parameter.cpp.

◆ operator<<() [20/25]

template<>

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const Parameter< std::vector< std::string > > &	parameter
	)

Definition at line 222 of file Parameter.cpp.

◆ operator<<() [21/25]

template<typename T >

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const Parameter< T > &	parameter
	)

Definition at line 158 of file Parameter.cpp.

◆ operator<<() [22/25]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const Predicate &	predicate
	)

Parameters

os	The ostream to append the string representing the Predicate to
predicate	The Predicate to print

Returns: the appended ostream

Definition at line 9 of file Predicate.cpp.

◆ operator<<() [23/25]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const Shape &	shape
	)

Parameters

os	the ostream to append the string representing the Shape to
shape	the Shape to print

Returns: the appended ostream

Definition at line 12 of file Shape.cpp.

◆ operator<<() [24/25]

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

Parameters

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

Returns: The appended ostream

Definition at line 17 of file SpatialState.cpp.

◆ operator<<() [25/25]

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

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() [1/5]

void state_representation::swap	(	CartesianState &	state1,
		CartesianState &	state2
	)

inline

Parameters

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

Definition at line 600 of file CartesianState.hpp.

◆ swap() [2/5]

void state_representation::swap	(	Jacobian &	jacobian1,
		Jacobian &	jacobian2
	)

inline

Parameters

jacobian1	Jacobian to be swapped with 2
jacobian2	Jacobian to be swapped with 1

Definition at line 328 of file Jacobian.hpp.

◆ swap() [3/5]

void state_representation::swap	(	JointState &	state1,
		JointState &	state2
	)

inline

Parameters

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

Definition at line 598 of file JointState.hpp.

◆ swap() [4/5]

void state_representation::swap	(	SpatialState &	state1,
		SpatialState &	state2
	)

inline

Parameters

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

Definition at line 80 of file SpatialState.hpp.

◆ swap() [5/5]

void state_representation::swap	(	State &	state1,
		State &	state2
	)

inline

Parameters

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

Definition at line 182 of file State.hpp.

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ ParameterInterfaceList

◆ ParameterInterfaceMap

Enumeration Type Documentation

◆ CartesianStateVariable

◆ JointStateVariable

◆ ParameterType

◆ StateType

Function Documentation

◆ dist() [1/2]

◆ dist() [2/2]

◆ exp()

◆ log()

◆ make_shared_state()

◆ operator*() [1/33]

◆ operator*() [2/33]

◆ operator*() [3/33]

◆ operator*() [4/33]

◆ operator*() [5/33]

◆ operator*() [6/33]

◆ operator*() [7/33]

◆ operator*() [8/33]

◆ operator*() [9/33]

◆ operator*() [10/33]

◆ operator*() [11/33]

◆ operator*() [12/33]

◆ operator*() [13/33]

◆ operator*() [14/33]

◆ operator*() [15/33]

◆ operator*() [16/33]

◆ operator*() [17/33]

◆ operator*() [18/33]

◆ operator*() [19/33]

◆ operator*() [20/33]

◆ operator*() [21/33]

◆ operator*() [22/33]

◆ operator*() [23/33]

◆ operator*() [24/33]

◆ operator*() [25/33]

◆ operator*() [26/33]

◆ operator*() [27/33]

◆ operator*() [28/33]

◆ operator*() [29/33]

◆ operator*() [30/33]

◆ operator*() [31/33]

◆ operator*() [32/33]

◆ operator*() [33/33]

◆ operator<<() [1/25]

◆ operator<<() [2/25]

◆ operator<<() [3/25]

◆ operator<<() [4/25]

◆ operator<<() [5/25]

◆ operator<<() [6/25]

◆ operator<<() [7/25]

◆ operator<<() [8/25]

◆ operator<<() [9/25]

◆ operator<<() [10/25]

◆ operator<<() [11/25]

◆ operator<<() [12/25]

◆ operator<<() [13/25]

◆ operator<<() [14/25]

◆ operator<<() [15/25]

◆ operator<<() [16/25]

◆ operator<<() [17/25]

◆ operator<<() [18/25]

◆ operator<<() [19/25]

◆ operator<<() [20/25]

◆ operator<<() [21/25]

◆ operator<<() [22/25]

◆ operator<<() [23/25]

◆ operator<<() [24/25]

◆ operator<<() [25/25]

◆ swap() [1/5]

◆ swap() [2/5]

◆ swap() [3/5]