Class to define acceleration in Cartesian space as 3D linear and angular acceleration vectors. More...

#include <CartesianAcceleration.hpp>

Inheritance diagram for state_representation::CartesianAcceleration:

Public Member Functions
const Eigen::Vector3d &	get_position () const =delete

const Eigen::Quaterniond &	get_orientation () const =delete

Eigen::Vector4d	get_orientation_coefficients () const =delete

Eigen::Matrix< double, 7, 1 >	get_pose () const =delete

Eigen::Matrix4d	get_transformation_matrix () const =delete

const Eigen::Vector3d &	get_linear_velocity () const =delete

const Eigen::Vector3d &	get_angular_velocity () const =delete

Eigen::Matrix< double, 6, 1 >	get_twist () const =delete

const Eigen::Vector3d &	get_force () const =delete

const Eigen::Vector3d &	get_torque () const =delete

Eigen::Matrix< double, 6, 1 >	get_wrench () const =delete

void	set_position (const Eigen::Vector3d &position)=delete

void	set_position (const std::vector< double > &position)=delete

void	set_position (const double &x, const double &y, const double &z)=delete

void	set_orientation (const Eigen::Quaterniond &orientation)=delete

void	set_orientation (const Eigen::Vector4d &orientation)=delete

void	set_orientation (const std::vector< double > &orientation)=delete

void	set_orientation (const double &w, const double &x, const double &y, const double &z)=delete

void	set_pose (const Eigen::Vector3d &position, const Eigen::Quaterniond &orientation)=delete

void	set_pose (const Eigen::Matrix< double, 7, 1 > &pose)=delete

void	set_pose (const std::vector< double > &pose)=delete

void	set_linear_velocity (const Eigen::Vector3d &linear_velocity)=delete

void	set_linear_velocity (const std::vector< double > &linear_velocity)=delete

void	set_linear_velocity (const double &x, const double &y, const double &z)=delete

void	set_angular_velocity (const Eigen::Vector3d &angular_velocity)=delete

void	set_angular_velocity (const std::vector< double > &angular_velocity)=delete

void	set_angular_velocity (const double &x, const double &y, const double &z)=delete

void	set_twist (const Eigen::Matrix< double, 6, 1 > &twist)=delete

void	set_twist (const std::vector< double > &twist)=delete

void	set_force (const Eigen::Vector3d &force)=delete

void	set_force (const std::vector< double > &force)=delete

void	set_force (const double &x, const double &y, const double &z)=delete

void	set_torque (const Eigen::Vector3d &torque)=delete

void	set_torque (const std::vector< double > &torque)=delete

void	set_torque (const double &x, const double &y, const double &z)=delete

void	set_wrench (const Eigen::Matrix< double, 6, 1 > &wrench)=delete

void	set_wrench (const std::vector< double > &wrench)=delete

CartesianState &	*operator=** (const CartesianState &state)=delete

CartesianState	operator* (const CartesianState &state) const =delete

Eigen::Vector3d	operator* (const Eigen::Vector3d &vector) const =delete

CartesianState &	operator+= (const CartesianPose &pose)=delete

CartesianState &	operator+= (const CartesianTwist &twist)=delete

CartesianState &	operator+= (const CartesianWrench &wrench)=delete

CartesianState	operator+ (const CartesianPose &pose) const =delete

CartesianState	operator+ (const CartesianTwist &twist) const =delete

CartesianState	operator+ (const CartesianWrench &wrench) const =delete

CartesianState &	operator-= (const CartesianPose &pose)=delete

CartesianState &	operator-= (const CartesianTwist &twist)=delete

CartesianState &	operator-= (const CartesianWrench &wrench)=delete

CartesianState	operator- (const CartesianPose &pose) const =delete

CartesianState	operator- (const CartesianTwist &twist) const =delete

CartesianState	operator- (const CartesianWrench &wrench) const =delete

	CartesianAcceleration ()
	Empty constructor.

	CartesianAcceleration (const std::string &name, const std::string &reference="world")
	Constructor with name and reference frame provided.

	CartesianAcceleration (const CartesianAcceleration &acceleration)
	Copy constructor.

	CartesianAcceleration (const CartesianState &state)
	Copy constructor from a Cartesian state.

	CartesianAcceleration (const CartesianTwist &pose)
	Copy constructor from a Cartesian twist by considering that it is equivalent to dividing the twist by 1 second.

	CartesianAcceleration (const std::string &name, const Eigen::Vector3d &linear_acceleration, const std::string &reference="world")
	Construct a Cartesian acceleration from a linear acceleration given as a vector.

	CartesianAcceleration (const std::string &name, const Eigen::Vector3d &linear_acceleration, const Eigen::Vector3d &angular_acceleration, const std::string &reference="world")
	Construct a Cartesian acceleration from a linear acceleration and angular acceleration given as vectors.

	CartesianAcceleration (const std::string &name, const Eigen::Matrix< double, 6, 1 > &acceleration, const std::string &reference="world")
	Construct a Cartesian acceleration from a single 6d acceleration vector.

CartesianAcceleration &	operator= (const CartesianAcceleration &acceleration)=default
	Copy assignment operator that has to be defined to the custom assignment operator.

Eigen::VectorXd	data () const override
	Returns the acceleration data as an Eigen vector.

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

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

void	clamp (double max_linear, double max_angular, double linear_noise_ratio=0, double angular_noise_ratio=0)
	Clamp inplace the magnitude of the acceleration to the values in argument.

CartesianAcceleration	clamped (double max_linear, double max_angular, double noise_ratio=0, double angular_noise_ratio=0) const
	Return the clamped twist.

CartesianAcceleration	copy () const
	Return a copy of the Cartesian acceleration.

CartesianAcceleration	inverse () const
	Compute the inverse of the current Cartesian acceleration.

CartesianAcceleration	normalized (const CartesianStateVariable &state_variable_type=CartesianStateVariable::ACCELERATION) const
	Compute the normalized acceleration at the state variable given in argument (default is full acceleration)

std::vector< double >	norms (const CartesianStateVariable &state_variable_type=CartesianStateVariable::ACCELERATION) const override
	Compute the norms of the state variable specified by the input type (default is full acceleration)

CartesianAcceleration &	operator*= (double lambda)
	Scale inplace by a scalar.

CartesianAcceleration	operator* (double lambda) const
	Scale a Cartesian acceleration by a scalar.

CartesianTwist	operator* (const std::chrono::nanoseconds &dt) const
	Integrate a Cartesian acceleration over a time period.

CartesianAcceleration &	operator/= (double lambda)
	Scale inplace by a scalar.

CartesianAcceleration	operator/ (double lambda) const
	Scale a Cartesian acceleration by a scalar.

CartesianAcceleration &	operator+= (const CartesianAcceleration &acceleration)
	Add inplace another Cartesian acceleration.

CartesianAcceleration &	operator+= (const CartesianState &state)
	Add inplace another acceleration from a Cartesian state.

CartesianAcceleration	operator+ (const CartesianAcceleration &acceleration) const
	Add another Cartesian acceleration.

CartesianState	operator+ (const CartesianState &state) const
	Add another Cartesian state.

CartesianAcceleration	operator- () const
	Negate a Cartesian acceleration.

CartesianAcceleration &	operator-= (const CartesianAcceleration &acceleration)
	Compute inplace the difference with another Cartesian acceleration.

CartesianAcceleration &	operator-= (const CartesianState &state)
	Compute inplace the difference with another Cartesian state.

CartesianAcceleration	operator- (const CartesianAcceleration &acceleration) const
	Compute the difference with another Cartesian acceleration.

CartesianState	operator- (const CartesianState &state) const
	Compute the difference with a Cartesian state.

Public Member Functions inherited from state_representation::CartesianState
	CartesianState ()
	Empty constructor.

	CartesianState (const std::string &name, const std::string &reference="world")
	Constructor with name and reference frame provided.

	CartesianState (const CartesianState &state)
	Copy constructor of a Cartesian state.

CartesianState &	operator= (const CartesianState &state)
	Copy assignment operator that has to be defined to the custom assignment operator.

const Eigen::Vector3d &	get_position () const
	Getter of the position attribute.

const Eigen::Quaterniond &	get_orientation () const
	Getter of the orientation attribute.

Eigen::Vector4d	get_orientation_coefficients () const
	Getter of the orientation attribute as Vector4d of coefficients.

Eigen::Matrix< double, 7, 1 >	get_pose () const
	Getter of the pose from position and orientation attributes.

Eigen::Matrix4d	get_transformation_matrix () const
	Getter of a pose from position and orientation attributes.

const Eigen::Vector3d &	get_linear_velocity () const
	Getter of the linear velocity attribute.

const Eigen::Vector3d &	get_angular_velocity () const
	Getter of the angular velocity attribute.

Eigen::Matrix< double, 6, 1 >	get_twist () const
	Getter of the 6d twist from linear and angular velocity attributes.

const Eigen::Vector3d &	get_linear_acceleration () const
	Getter of the linear acceleration attribute.

const Eigen::Vector3d &	get_angular_acceleration () const
	Getter of the angular acceleration attribute.

Eigen::Matrix< double, 6, 1 >	get_acceleration () const
	Getter of the 6d acceleration from linear and angular acceleration attributes.

const Eigen::Vector3d &	get_force () const
	Getter of the force attribute.

const Eigen::Vector3d &	get_torque () const
	Getter of the torque attribute.

Eigen::Matrix< double, 6, 1 >	get_wrench () const
	Getter of the 6d wrench from force and torque attributes.

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

std::vector< double >	to_std_vector () const
	Return the state as a std vector.

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

void	set_position (const std::vector< double > &position)
	Setter of the position from a std vector.

void	set_position (const double &x, const double &y, const double &z)
	Setter of the position from three scalar coordinates.

void	set_orientation (const Eigen::Quaterniond &orientation)
	Setter of the orientation.

void	set_orientation (const Eigen::Vector4d &orientation)
	Setter of the orientation from a 4d vector.

void	set_orientation (const std::vector< double > &orientation)
	Setter of the orientation from a std vector.

void	set_orientation (const double &w, const double &x, const double &y, const double &z)
	Setter of the orientation from four scalar coefficients (w, x, y, z)

void	set_pose (const Eigen::Vector3d &position, const Eigen::Quaterniond &orientation)
	Setter of the pose from both position and orientation.

void	set_pose (const Eigen::Matrix< double, 7, 1 > &pose)
	Setter of the pose from both position and orientation as Eigen 7d vector.

void	set_pose (const std::vector< double > &pose)
	Setter of the pose from both position and orientation as std vector.

void	set_linear_velocity (const Eigen::Vector3d &linear_velocity)
	Setter of the linear velocity attribute.

void	set_linear_velocity (const std::vector< double > &linear_velocity)
	Setter of the linear velocity from a std vector.

void	set_linear_velocity (const double &x, const double &y, const double &z)
	Setter of the linear velocity from three scalar coordinates.

void	set_angular_velocity (const Eigen::Vector3d &angular_velocity)
	Setter of the angular velocity attribute.

void	set_angular_velocity (const std::vector< double > &angular_velocity)
	Setter of the angular velocity from a std vector.

void	set_angular_velocity (const double &x, const double &y, const double &z)
	Setter of the angular velocity from three scalar coordinates.

void	set_twist (const Eigen::Matrix< double, 6, 1 > &twist)
	Setter of the linear and angular velocities from a 6d twist vector.

void	set_twist (const std::vector< double > &twist)
	Setter of the linear and angular velocities from a std vector.

void	set_linear_acceleration (const Eigen::Vector3d &linear_acceleration)
	Setter of the linear acceleration attribute.

void	set_linear_acceleration (const std::vector< double > &linear_acceleration)
	Setter of the linear acceleration from a std vector.

void	set_linear_acceleration (const double &x, const double &y, const double &z)
	Setter of the linear acceleration from three scalar coordinates.

void	set_angular_acceleration (const Eigen::Vector3d &angular_acceleration)
	Setter of the angular velocity attribute.

void	set_angular_acceleration (const std::vector< double > &angular_acceleration)
	Setter of the angular acceleration from a std vector.

void	set_angular_acceleration (const double &x, const double &y, const double &z)
	Setter of the angular acceleration from three scalar coordinates.

void	set_acceleration (const Eigen::Matrix< double, 6, 1 > &acceleration)
	Setter of the linear and angular acceleration from a 6d acceleration vector.

void	set_acceleration (const std::vector< double > &acceleration)
	Setter of the linear and angular acceleration from a std vector.

void	set_force (const Eigen::Vector3d &force)
	Setter of the force attribute.

void	set_force (const std::vector< double > &force)
	Setter of the force from a std vector.

void	set_force (const double &x, const double &y, const double &z)
	Setter of the force from three scalar coordinates.

void	set_torque (const Eigen::Vector3d &torque)
	Setter of the torque attribute.

void	set_torque (const std::vector< double > &torque)
	Setter of the torque from a std vector.

void	set_torque (const double &x, const double &y, const double &z)
	Setter of the torque from three scalar coordinates.

void	set_wrench (const Eigen::Matrix< double, 6, 1 > &wrench)
	Setter of the force and torque from a 6d wrench vector.

void	set_wrench (const std::vector< double > &wrench)
	Setter of the force and torque from a std vector.

void	set_zero ()
	Set the State to a zero value.

void	clamp_state_variable (double max_norm, const CartesianStateVariable &state_variable_type, double noise_ratio=0)
	Clamp inplace the norm of the a specific state variable.

CartesianState	copy () const
	Return a copy of the Cartesian state.

double	dist (const CartesianState &state, const CartesianStateVariable &state_variable_type=CartesianStateVariable::ALL) const
	Compute the distance to another state as the sum of distances between each features.

void	reset () override
	Reset the object to a post-construction state.

CartesianState	inverse () const
	Compute the inverse of the current Cartesian state.

void	normalize (const CartesianStateVariable &state_variable_type=CartesianStateVariable::ALL)
	Normalize inplace the state at the state variable given in argument. Default is full state.

CartesianState	normalized (const CartesianStateVariable &state_variable_type=CartesianStateVariable::ALL) const
	Compute the normalized state at the state variable given in argument. Default is full state.

CartesianState &	operator*= (const CartesianState &state)
	Transform inplace a Cartesian state into the current reference frame.

CartesianState	operator* (const CartesianState &state) const
	Transform a Cartesian state into the left operand state reference frame.

CartesianState &	operator*= (double lambda)
	Scale inplace by a scalar.

CartesianState	operator* (double lambda) const
	Scale a Cartesian pose by a scalar.

Eigen::Vector3d	operator* (const Eigen::Vector3d &vector) const
	Transform a vector into the state reference frame.

CartesianState &	operator/= (double lambda)
	Scale inplace by a scalar.

CartesianState	operator/ (double lambda) const
	Scale a Cartesian state by a scalar.

CartesianState &	operator+= (const CartesianState &state)
	Add inplace another Cartesian state.

CartesianState	operator+ (const CartesianState &state) const
	Add another Cartesian state.

CartesianState	operator- () const
	Negate a Cartesian state.

CartesianState &	operator-= (const CartesianState &state)
	Compute inplace the difference with another Cartesian state.

CartesianState	operator- (const CartesianState &state) const
	Compute the difference with another Cartesian state.

Public Member Functions inherited from state_representation::SpatialState
	SpatialState ()
	Empty constructor.

	SpatialState (const std::string &name, const std::string &reference_frame="world")
	Constructor with name and reference frame specification.

	SpatialState (const SpatialState &state)
	Copy constructor from another spatial state.

SpatialState &	operator= (const SpatialState &state)
	Copy assignment operator that has to be defined to the custom assignment operator.

const std::string &	get_reference_frame () const
	Getter of the reference frame as const reference.

virtual void	set_reference_frame (const std::string &reference_frame)
	Setter of the reference frame.

bool	is_incompatible (const State &state) const override
	Check if the spatial state is incompatible for operations with the state given as argument.

Public Member Functions inherited from state_representation::State
	State ()
	Empty constructor.

	State (const std::string &name)
	Constructor with name specification.

	State (const State &state)
	Copy constructor from another state.

virtual	~State ()=default
	Virtual destructor.

State &	operator= (const State &state)
	Copy assignment operator that has to be defined to the custom assignment operator.

const StateType &	get_type () const
	Getter of the type attribute.

const std::string &	get_name () const
	Getter of the name attribute.

bool	is_empty () const
	Getter of the empty attribute.

const std::chrono::time_point< std::chrono::steady_clock > &	get_timestamp () const
	Getter of the timestamp attribute.

virtual void	set_name (const std::string &name)
	Setter of the name attribute.

void	reset_timestamp ()
	Reset the timestamp attribute to now.

virtual void	set_data (const Eigen::MatrixXd &data)
	Set the data of the state from an Eigen matrix.

double	get_age () const
	Get the age of the state, i.e. the time since the last modification.

bool	is_deprecated (double time_delay) const
	Check if the state is deprecated given a certain time delay.

template<typename DurationT >
bool	is_deprecated (const std::chrono::duration< int64_t, DurationT > &time_delay) const
	Check if the state is deprecated given a certain time delay.

	operator bool () const noexcept
	Boolean operator for the truthiness of a state.

Static Public Member Functions
static CartesianAcceleration	Zero (const std::string &name, const std::string &reference="world")
	Constructor for the zero acceleration.

static CartesianAcceleration	Random (const std::string &name, const std::string &reference="world")
	Constructor for a random acceleration.

Static Public Member Functions inherited from state_representation::CartesianState
static CartesianState	Identity (const std::string &name, const std::string &reference="world")
	Constructor for the identity Cartesian state (identity pose and 0 for the rest)

static CartesianState	Random (const std::string &name, const std::string &reference="world")
	Constructor for a random Cartesian state.

Friends
CartesianAcceleration	operator* (double lambda, const CartesianAcceleration &acceleration)
	Scale a Cartesian acceleration by a scalar.

CartesianAcceleration	operator* (const Eigen::Matrix< double, 6, 6 > &lambda, const CartesianAcceleration &acceleration)
	Scale a Cartesian acceleration in all dimensions by a matrix.

CartesianTwist	operator* (const std::chrono::nanoseconds &dt, const CartesianAcceleration &acceleration)
	Integrate a Cartesian acceleration over a time period.

std::ostream &	operator<< (std::ostream &os, const CartesianAcceleration &acceleration)
	Overload the ostream operator for printing.

Additional Inherited Members
Protected Member Functions inherited from state_representation::CartesianState
Eigen::VectorXd	get_state_variable (const CartesianStateVariable &state_variable_type) const
	Getter of the variable value corresponding to the input.

void	set_state_variable (const Eigen::VectorXd &new_value, const CartesianStateVariable &state_variable_type)
	Setter of the variable value corresponding to the input.

void	set_state_variable (const std::vector< double > &new_value, const CartesianStateVariable &state_variable_type)
	Setter of the variable value corresponding to the input.

std::string	to_string () const override
	Convert the state to its string representation.

Protected Member Functions inherited from state_representation::SpatialState
std::string	to_string () const override
	Convert the state to its string representation.

Protected Member Functions inherited from state_representation::State
void	set_type (const StateType &type)
	Setter of the state type attribute.

void	set_empty (bool empty=true)
	Setter of the empty attribute.

void	assert_not_empty () const
	Throw an exception if the state is empty.

Detailed Description

Class to define acceleration in Cartesian space as 3D linear and angular acceleration vectors.

Definition at line 18 of file CartesianAcceleration.hpp.

Constructor & Destructor Documentation

◆ CartesianAcceleration() [1/8]

state_representation::CartesianAcceleration::CartesianAcceleration ( )

explicit

Empty constructor.

Definition at line 8 of file CartesianAcceleration.cpp.

◆ CartesianAcceleration() [2/8]

state_representation::CartesianAcceleration::CartesianAcceleration	(	const std::string &	name,
		const std::string &	reference = `"world"`
	)

explicit

Constructor with name and reference frame provided.

Parameters

name	The name of the state
reference	The name of the reference frame (default is "world")

Definition at line 12 of file CartesianAcceleration.cpp.

◆ CartesianAcceleration() [3/8]

state_representation::CartesianAcceleration::CartesianAcceleration ( const CartesianAcceleration & acceleration )

Copy constructor.

Definition at line 48 of file CartesianAcceleration.cpp.

◆ CartesianAcceleration() [4/8]

state_representation::CartesianAcceleration::CartesianAcceleration ( const CartesianState & state )

Copy constructor from a Cartesian state.

Definition at line 40 of file CartesianAcceleration.cpp.

◆ CartesianAcceleration() [5/8]

state_representation::CartesianAcceleration::CartesianAcceleration ( const CartesianTwist & pose )

Copy constructor from a Cartesian twist by considering that it is equivalent to dividing the twist by 1 second.

Definition at line 51 of file CartesianAcceleration.cpp.

◆ CartesianAcceleration() [6/8]

state_representation::CartesianAcceleration::CartesianAcceleration	(	const std::string &	name,
		const Eigen::Vector3d &	linear_acceleration,
		const std::string &	reference = `"world"`
	)

explicit

Construct a Cartesian acceleration from a linear acceleration given as a vector.

Definition at line 17 of file CartesianAcceleration.cpp.

◆ CartesianAcceleration() [7/8]

state_representation::CartesianAcceleration::CartesianAcceleration	(	const std::string &	name,
		const Eigen::Vector3d &	linear_acceleration,
		const Eigen::Vector3d &	angular_acceleration,
		const std::string &	reference = `"world"`
	)

explicit

Construct a Cartesian acceleration from a linear acceleration and angular acceleration given as vectors.

Definition at line 24 of file CartesianAcceleration.cpp.

◆ CartesianAcceleration() [8/8]

state_representation::CartesianAcceleration::CartesianAcceleration	(	const std::string &	name,
		const Eigen::Matrix< double, 6, 1 > &	acceleration,
		const std::string &	reference = `"world"`
	)

explicit

Construct a Cartesian acceleration from a single 6d acceleration vector.

Definition at line 33 of file CartesianAcceleration.cpp.

Member Function Documentation

◆ clamp()

void state_representation::CartesianAcceleration::clamp	(	double	max_linear,
		double	max_angular,
		double	linear_noise_ratio = `0`,
		double	angular_noise_ratio = `0`
	)

Clamp inplace the magnitude of the acceleration to the values in argument.

Parameters

max_linear	The maximum magnitude of the linear acceleration
max_angular	The maximum magnitude of the angular acceleration
linear_noise_ratio	If provided, this value will be used to apply a deadzone under which the linear acceleration will be set to 0
angular_noise_ratio	If provided, this value will be used to apply a deadzone under which the angular acceleration will be set to 0

Definition at line 80 of file CartesianAcceleration.cpp.

◆ clamped()

CartesianAcceleration state_representation::CartesianAcceleration::clamped	(	double	max_linear,
		double	max_angular,
		double	noise_ratio = `0`,
		double	angular_noise_ratio = `0`
	)		const

Return the clamped twist.

Parameters

max_linear	The maximum magnitude of the linear acceleration
max_angular	The maximum magnitude of the angular acceleration
noise_ratio	If provided, this value will be used to apply a deadzone under which the linear acceleration will be set to 0
angular_noise_ratio	If provided, this value will be used to apply a deadzone under which the angular acceleration will be set to 0

Returns: The clamped acceleration

Definition at line 89 of file CartesianAcceleration.cpp.

◆ copy()

CartesianAcceleration state_representation::CartesianAcceleration::copy ( ) const

Return a copy of the Cartesian acceleration.

Definition at line 97 of file CartesianAcceleration.cpp.

◆ data()

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

overridevirtual

Returns the acceleration data as an Eigen vector.

Reimplemented from state_representation::CartesianState.

Definition at line 64 of file CartesianAcceleration.cpp.

◆ inverse()

CartesianAcceleration state_representation::CartesianAcceleration::inverse ( ) const

Compute the inverse of the current Cartesian acceleration.

Definition at line 102 of file CartesianAcceleration.cpp.

◆ normalized()

CartesianAcceleration state_representation::CartesianAcceleration::normalized ( const CartesianStateVariable & state_variable_type = CartesianStateVariable::ACCELERATION ) const

Compute the normalized acceleration at the state variable given in argument (default is full acceleration)

Parameters

state_variable_type The type of state variable to compute the norms on

Returns: The normalized acceleration

Definition at line 106 of file CartesianAcceleration.cpp.

◆ norms()

std::vector< double > state_representation::CartesianAcceleration::norms ( const CartesianStateVariable & state_variable_type = CartesianStateVariable::ACCELERATION ) const

overridevirtual

Compute the norms of the state variable specified by the input type (default is full acceleration)

Parameters

state_variable_type The type of state variable to compute the norms on

Returns: The norms of the state variables as a vector

Reimplemented from state_representation::CartesianState.

Definition at line 110 of file CartesianAcceleration.cpp.

◆ operator*() [1/2]

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

Integrate a Cartesian acceleration over a time period.

Parameters

dt	The time period used for integration

Returns: The resulting Cartesian twist after integration

Definition at line 133 of file CartesianAcceleration.cpp.

◆ operator*() [2/2]

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

Scale a Cartesian acceleration by a scalar.

: All state variables in all their dimensions are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled Cartesian state

Parameters

lambda The scaling factor

Returns: The scaled Cartesian acceleration

Definition at line 119 of file CartesianAcceleration.cpp.

◆ operator*=()

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

Scale inplace by a scalar.

: All state variables in all their dimensions are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled Cartesian state

Parameters

lambda The scaling factor

Returns: The reference to the scaled Cartesian acceleration

Definition at line 114 of file CartesianAcceleration.cpp.

◆ operator+() [1/2]

CartesianAcceleration state_representation::CartesianAcceleration::operator+ ( const CartesianAcceleration & acceleration ) const

Add another Cartesian acceleration.

Parameters

acceleration A Cartesian acceleration in the same reference frame

Returns: The combined Cartesian acceleration

Definition at line 168 of file CartesianAcceleration.cpp.

◆ operator+() [2/2]

CartesianState state_representation::CartesianAcceleration::operator+ ( const CartesianState & state ) const

Add another Cartesian state.

Parameters

state A Cartesian state in the same reference frame

Returns: The combined Cartesian state

Definition at line 172 of file CartesianAcceleration.cpp.

◆ operator+=() [1/2]

CartesianAcceleration & state_representation::CartesianAcceleration::operator+= ( const CartesianAcceleration & acceleration )

Add inplace another Cartesian acceleration.

Parameters

acceleration A Cartesian acceleration in the same reference frame

Returns: The reference to the combined Cartesian acceleration

Definition at line 158 of file CartesianAcceleration.cpp.

◆ operator+=() [2/2]

CartesianAcceleration & state_representation::CartesianAcceleration::operator+= ( const CartesianState & state )

Add inplace another acceleration from a Cartesian state.

Parameters

state A Cartesian state in the same reference frame

Returns: The reference to the combined Cartesian acceleration

Definition at line 163 of file CartesianAcceleration.cpp.

◆ operator-() [1/3]

CartesianAcceleration state_representation::CartesianAcceleration::operator- ( ) const

Negate a Cartesian acceleration.

Returns: The negative value of the Cartesian acceleration

Definition at line 176 of file CartesianAcceleration.cpp.

◆ operator-() [2/3]

CartesianAcceleration state_representation::CartesianAcceleration::operator- ( const CartesianAcceleration & acceleration ) const

Compute the difference with another Cartesian acceleration.

Parameters

acceleration A Cartesian acceleration in the same reference frame

Returns: The difference in acceleration

Definition at line 190 of file CartesianAcceleration.cpp.

◆ operator-() [3/3]

CartesianState state_representation::CartesianAcceleration::operator- ( const CartesianState & state ) const

Compute the difference with a Cartesian state.

Parameters

state A Cartesian state in the same reference frame

Returns: The difference in all the state variables

Definition at line 194 of file CartesianAcceleration.cpp.

◆ operator-=() [1/2]

CartesianAcceleration & state_representation::CartesianAcceleration::operator-= ( const CartesianAcceleration & acceleration )

Compute inplace the difference with another Cartesian acceleration.

Parameters

acceleration A Cartesian acceleration in the same reference frame

Returns: The reference to the difference in acceleration

Definition at line 180 of file CartesianAcceleration.cpp.

◆ operator-=() [2/2]

CartesianAcceleration & state_representation::CartesianAcceleration::operator-= ( const CartesianState & state )

Compute inplace the difference with another Cartesian state.

Parameters

state A Cartesian state in the same reference frame

Returns: The reference to the difference in acceleration

Definition at line 185 of file CartesianAcceleration.cpp.

◆ operator/()

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

Scale a Cartesian acceleration by a scalar.

: All state variables in all their dimensions are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled Cartesian state

Parameters

lambda The scaling factor

Returns: The scaled Cartesian acceleration

Definition at line 154 of file CartesianAcceleration.cpp.

◆ operator/=()

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

Scale inplace by a scalar.

: All state variables in all their dimensions are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled Cartesian state

Parameters

lambda The scaling factor

Returns: The reference to the scaled Cartesian acceleration

Definition at line 149 of file CartesianAcceleration.cpp.

◆ operator=()

CartesianAcceleration & state_representation::CartesianAcceleration::operator= ( const CartesianAcceleration & acceleration )

default

Copy assignment operator that has to be defined to the custom assignment operator.

Parameters

acceleration The acceleration with value to assign

Returns: Reference to the current acceleration with new values

◆ Random()

CartesianAcceleration state_representation::CartesianAcceleration::Random	(	const std::string &	name,
		const std::string &	reference = `"world"`
	)

static

Constructor for a random acceleration.

Parameters

name	The name of the state
reference	The name of the reference frame (default is "world")

Returns: The random Cartesian acceleration

Definition at line 58 of file CartesianAcceleration.cpp.

◆ set_data() [1/2]

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

overridevirtual

Set the acceleration data from an Eigen vector.

Reimplemented from state_representation::CartesianState.

Definition at line 68 of file CartesianAcceleration.cpp.

◆ set_data() [2/2]

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

overridevirtual

Set the acceleration data from a std vector.

Reimplemented from state_representation::CartesianState.

Definition at line 76 of file CartesianAcceleration.cpp.

◆ Zero()

CartesianAcceleration state_representation::CartesianAcceleration::Zero	(	const std::string &	name,
		const std::string &	reference = `"world"`
	)

static

Constructor for the zero acceleration.

Parameters

name	The name of the state
reference	The name of the reference frame (default is "world")

Returns: The zero Cartesian acceleration

Definition at line 54 of file CartesianAcceleration.cpp.

Friends And Related Symbol Documentation

◆ operator* [1/3]

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

friend

Scale a Cartesian acceleration in all dimensions by a matrix.

Parameters

lambda	The scaling factors in all the dimensions
acceleration	The Cartesian acceleration to be scaled

Returns: The scaled Cartesian acceleration

Definition at line 127 of file CartesianAcceleration.cpp.

◆ operator* [2/3]

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

friend

Integrate a Cartesian acceleration over a time period.

Parameters

dt	The time period used for integration
acceleration	The Cartesian acceleration to be integrated

Returns: The resulting Cartesian twist after integration

Definition at line 145 of file CartesianAcceleration.cpp.

◆ operator* [3/3]

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

friend

Scale a Cartesian acceleration by a scalar.

: All state variables in all their dimensions are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled Cartesian state

Parameters

lambda	The scaling factor
acceleration	The Cartesian acceleration to be scaled

Returns: The scaled Cartesian acceleration

Definition at line 123 of file CartesianAcceleration.cpp.

◆ operator<<

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

friend

Overload the ostream operator for printing.

Parameters

os	The ostream to append the string representing the Cartesian acceleration to
acceleration	The Cartesian acceleration to print

Returns: The appended ostream

Definition at line 198 of file CartesianAcceleration.cpp.

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

/github/workspace/source/state_representation/include/state_representation/space/cartesian/CartesianAcceleration.hpp
/github/workspace/source/state_representation/src/space/cartesian/CartesianAcceleration.cpp

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CartesianAcceleration() [1/8]

◆ CartesianAcceleration() [2/8]

◆ CartesianAcceleration() [3/8]

◆ CartesianAcceleration() [4/8]

◆ CartesianAcceleration() [5/8]

◆ CartesianAcceleration() [6/8]

◆ CartesianAcceleration() [7/8]

◆ CartesianAcceleration() [8/8]

Member Function Documentation

◆ clamp()

◆ clamped()

◆ copy()

◆ data()

◆ inverse()

◆ normalized()

◆ norms()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator*=()

◆ operator+() [1/2]

◆ operator+() [2/2]

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ operator-() [1/3]

◆ operator-() [2/3]

◆ operator-() [3/3]

◆ operator-=() [1/2]

◆ operator-=() [2/2]

◆ operator/()

◆ operator/=()

◆ operator=()

◆ Random()

◆ set_data() [1/2]

◆ set_data() [2/2]

◆ Zero()

Friends And Related Symbol Documentation

◆ operator* [1/3]

◆ operator* [2/3]

◆ operator* [3/3]

◆ operator<<