Class to define Cartesian pose in Cartesian space as 3D position and quaternion based orientation. More...

#include <CartesianPose.hpp>

Inheritance diagram for state_representation::CartesianPose:

Public Member Functions
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_linear_acceleration () const =delete

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

Eigen::Matrix< double, 6, 1 >	get_acceleration () 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_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_linear_acceleration (const Eigen::Vector3d &linear_acceleration)=delete

void	set_linear_acceleration (const std::vector< double > &linear_acceleration)=delete

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

void	set_angular_acceleration (const Eigen::Vector3d &angular_acceleration)=delete

void	set_angular_acceleration (const std::vector< double > &angular_acceleration)=delete

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

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

void	set_acceleration (const std::vector< double > &acceleration)=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

CartesianPose &	*operator=** (const CartesianTwist &twist)=delete

CartesianPose &	*operator=** (const CartesianAcceleration &acceleration)=delete

CartesianPose &	*operator=** (const CartesianWrench &wrench)=delete

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

CartesianState &	operator+= (const CartesianAcceleration &acceleration)=delete

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

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

CartesianState	operator+ (const CartesianAcceleration &acceleration) const =delete

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

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

CartesianState &	operator-= (const CartesianAcceleration &acceleration)=delete

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

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

CartesianState	operator- (const CartesianAcceleration &acceleration) const =delete

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

	CartesianPose ()
	Empty constructor.

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

	CartesianPose (const CartesianPose &pose)
	Copy constructor.

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

	CartesianPose (const CartesianTwist &twist)
	Copy constructor from a Cartesian twist by considering that it is a displacement over 1 second.

	CartesianPose (const std::string &name, const Eigen::Vector3d &position, const std::string &reference="world")
	Constructor of a Cartesian pose from a position given as a vector of coordinates.

	CartesianPose (const std::string &name, double x, double y, double z, const std::string &reference="world")
	Constructor of a Cartesian pose from a position given as three scalar coordinates.

	CartesianPose (const std::string &name, const Eigen::Quaterniond &orientation, const std::string &reference="world")
	Constructor of a Cartesian pose from a quaternion.

	CartesianPose (const std::string &name, const Eigen::Vector3d &position, const Eigen::Quaterniond &orientation, const std::string &reference="world")
	Constructor of a Cartesian pose from a position given as a vector of coordinates and a quaternion.

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

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

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

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

CartesianPose	copy () const
	Return a copy of the Cartesian pose.

CartesianPose	inverse () const
	Compute the inverse of the current Cartesian pose.

CartesianPose	normalized (const CartesianStateVariable &state_variable_type=CartesianStateVariable::POSE) const
	Compute the normalized pose at the state variable given in argument (default is full pose)

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

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

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

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

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

CartesianTwist	operator* (const CartesianTwist &twist) const
	Transform a Cartesian twist into the pose reference frame.

CartesianAcceleration	operator* (const CartesianAcceleration &acceleration) const
	Transform a Cartesian acceleration into the pose reference frame.

CartesianWrench	operator* (const CartesianWrench &wrench) const
	Transform a Cartesian wrench into the pose reference frame.

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

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

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

CartesianPose	operator/ (double lambda) const
	Scale a Cartesian pose by a scalar.

CartesianTwist	operator/ (const std::chrono::nanoseconds &dt) const
	Differentiate a Cartesian pose over a time period.

CartesianPose &	operator+= (const CartesianPose &pose)
	Add inplace another Cartesian pose.

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

CartesianPose	operator+ (const CartesianPose &pose) const
	Add another Cartesian pose.

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

CartesianPose	operator- () const
	Negate a Cartesian pose.

CartesianPose &	operator-= (const CartesianPose &pose)
	Compute inplace the difference with another Cartesian pose.

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

CartesianPose	operator- (const CartesianPose &pose) const
	Compute the difference with another Cartesian pose.

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 CartesianPose	Identity (const std::string &name, const std::string &reference="world")
	Constructor for the identity pose.

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

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
CartesianPose	operator* (double lambda, const CartesianPose &pose)
	Scale a Cartesian pose by a scalar.

std::ostream &	operator<< (std::ostream &os, const CartesianPose &pose)
	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 Cartesian pose in Cartesian space as 3D position and quaternion based orientation.

Definition at line 18 of file CartesianPose.hpp.

Constructor & Destructor Documentation

◆ CartesianPose() [1/9]

state_representation::CartesianPose::CartesianPose ( )

explicit

Empty constructor.

Definition at line 9 of file CartesianPose.cpp.

◆ CartesianPose() [2/9]

state_representation::CartesianPose::CartesianPose	(	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 13 of file CartesianPose.cpp.

◆ CartesianPose() [3/9]

state_representation::CartesianPose::CartesianPose ( const CartesianPose & pose )

Copy constructor.

Definition at line 54 of file CartesianPose.cpp.

◆ CartesianPose() [4/9]

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

Copy constructor from a Cartesian state.

Definition at line 46 of file CartesianPose.cpp.

◆ CartesianPose() [5/9]

state_representation::CartesianPose::CartesianPose ( const CartesianTwist & twist )

Copy constructor from a Cartesian twist by considering that it is a displacement over 1 second.

Definition at line 56 of file CartesianPose.cpp.

◆ CartesianPose() [6/9]

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

explicit

Constructor of a Cartesian pose from a position given as a vector of coordinates.

Parameters

name	The name of the state
position	The position data given as Eigen vector
reference	The name of the reference frame (default is "world")

Definition at line 17 of file CartesianPose.cpp.

◆ CartesianPose() [7/9]

state_representation::CartesianPose::CartesianPose	(	const std::string &	name,
		double	x,
		double	y,
		double	z,
		const std::string &	reference = `"world"`
	)

explicit

Constructor of a Cartesian pose from a position given as three scalar coordinates.

Parameters

name	The name of the state
x	The x coordinate of the position
y	The y coordinate of the position
z	The z coordinate of the position
reference	The name of the reference frame (default is "world")

Definition at line 23 of file CartesianPose.cpp.

◆ CartesianPose() [8/9]

state_representation::CartesianPose::CartesianPose	(	const std::string &	name,
		const Eigen::Quaterniond &	orientation,
		const std::string &	reference = `"world"`
	)

explicit

Constructor of a Cartesian pose from a quaternion.

Parameters

name	The name of the state
orientation	The orientation given as Eigen quaternion
reference	The name of the reference frame (default is "world")

Definition at line 30 of file CartesianPose.cpp.

◆ CartesianPose() [9/9]

state_representation::CartesianPose::CartesianPose	(	const std::string &	name,
		const Eigen::Vector3d &	position,
		const Eigen::Quaterniond &	orientation,
		const std::string &	reference = `"world"`
	)

explicit

Constructor of a Cartesian pose from a position given as a vector of coordinates and a quaternion.

Parameters

name	The name of the state
position	The position data given as Eigen vector
orientation	The orientation given as Eigen quaternion
reference	The name of the reference frame (default is "world")

Definition at line 37 of file CartesianPose.cpp.

Member Function Documentation

◆ copy()

CartesianPose state_representation::CartesianPose::copy ( ) const

Return a copy of the Cartesian pose.

Definition at line 82 of file CartesianPose.cpp.

◆ data()

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

overridevirtual

Returns the pose data as an Eigen vector.

Reimplemented from state_representation::CartesianState.

Definition at line 66 of file CartesianPose.cpp.

◆ Identity()

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

static

Constructor for the identity pose.

Parameters

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

Returns: Cartesian identity pose

Definition at line 58 of file CartesianPose.cpp.

◆ inverse()

CartesianPose state_representation::CartesianPose::inverse ( ) const

Compute the inverse of the current Cartesian pose.

Returns: The inverse corresponding to b_S_f (assuming this is f_S_b)

Definition at line 87 of file CartesianPose.cpp.

◆ normalized()

CartesianPose state_representation::CartesianPose::normalized ( const CartesianStateVariable & state_variable_type = CartesianStateVariable::POSE ) const

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

Parameters

state_variable_type The type of state variable to compute the norms on

Returns: The normalized pose FIXME: state variable type doesnt make sense here

Definition at line 91 of file CartesianPose.cpp.

◆ norms()

std::vector< double > state_representation::CartesianPose::norms ( const CartesianStateVariable & state_variable_type = CartesianStateVariable::POSE ) const

overridevirtual

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

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 95 of file CartesianPose.cpp.

◆ operator*() [1/6]

CartesianAcceleration state_representation::CartesianPose::operator* ( const CartesianAcceleration & acceleration ) const

Transform a Cartesian acceleration into the pose reference frame.

: For a pose A expressed in reference frame W multiplied with an acceleration B expressed in reference frame A, the result of the transformation is an acceleration B expressed in reference frame W.

Parameters

acceleration A Cartesian acceleration expressed in the pose frame

Returns: The transformed acceleration expressed in the pose reference frame

Definition at line 121 of file CartesianPose.cpp.

◆ operator*() [2/6]

CartesianPose state_representation::CartesianPose::operator* ( const CartesianPose & pose ) const

Transform a Cartesian pose into the left operand pose reference frame.

: For a pose A expressed in reference frame W multiplied with a pose B expressed in reference frame A, the result of the transformation is a pose B expressed in reference frame W.

Parameters

pose	A Cartesian pose expressed in the left operand pose frame

Returns: The transformed pose expressed in the left operand pose reference frame

Definition at line 113 of file CartesianPose.cpp.

◆ operator*() [3/6]

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

Transform a Cartesian state into the pose reference frame.

: For a pose A expressed in reference frame W multiplied with a state B expressed in reference frame A, the result of the transformation is a state B expressed in reference frame W.

Parameters

state A Cartesian state expressed in the pose frame

Returns: The transformed state expressed in the pose reference frame

Definition at line 109 of file CartesianPose.cpp.

◆ operator*() [4/6]

CartesianTwist state_representation::CartesianPose::operator* ( const CartesianTwist & twist ) const

Transform a Cartesian twist into the pose reference frame.

: For a pose A expressed in reference frame W multiplied with a twist B expressed in reference frame A, the result of the transformation is a twist B expressed in reference frame W.

Parameters

twist A Cartesian twist expressed in the pose frame

Returns: The transformed twist expressed in the pose reference frame

Definition at line 117 of file CartesianPose.cpp.

◆ operator*() [5/6]

CartesianWrench state_representation::CartesianPose::operator* ( const CartesianWrench & wrench ) const

Transform a Cartesian wrench into the pose reference frame.

: For a pose A expressed in reference frame W multiplied with a wrench B expressed in reference frame A, the result of the transformation is a wrench B expressed in reference frame W.

Parameters

wrench A Cartesian wrench expressed in the pose frame

Returns: The transformed wrench expressed in the pose reference frame

Definition at line 125 of file CartesianPose.cpp.

◆ operator*() [6/6]

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

Scale a Cartesian pose 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 pose

Definition at line 134 of file CartesianPose.cpp.

◆ operator*=() [1/3]

CartesianPose & state_representation::CartesianPose::operator*= ( const CartesianPose & pose )

Transform inplace a Cartesian pose into the current reference frame.

: For a pose A expressed in reference frame W multiplied with a pose B expressed in reference frame A, the result of the transformation is a pose B expressed in reference frame W.

Parameters

pose	A Cartesian pose expressed in the current pose frame

Returns: The transformed pose expressed in the original reference frame

Definition at line 104 of file CartesianPose.cpp.

◆ operator*=() [2/3]

CartesianPose & state_representation::CartesianPose::operator*= ( const CartesianState & state )

Transform inplace a Cartesian state into the current reference frame.

: For a pose A expressed in reference frame W multiplied with a state B expressed in reference frame A, the result of the transformation is a pose B expressed in reference frame W.

Parameters

state A Cartesian state expressed in the current pose frame

Returns: The transformed pose expressed in the original reference frame

Definition at line 99 of file CartesianPose.cpp.

◆ operator*=() [3/3]

CartesianPose & state_representation::CartesianPose::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 pose

Definition at line 129 of file CartesianPose.cpp.

◆ operator+() [1/2]

CartesianPose state_representation::CartesianPose::operator+ ( const CartesianPose & pose ) const

Add another Cartesian pose.

Parameters

pose	A Cartesian pose in the same reference frame

Returns: The combined Cartesian pose

Definition at line 175 of file CartesianPose.cpp.

◆ operator+() [2/2]

CartesianState state_representation::CartesianPose::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 179 of file CartesianPose.cpp.

◆ operator+=() [1/2]

CartesianPose & state_representation::CartesianPose::operator+= ( const CartesianPose & pose )

Add inplace another Cartesian pose.

Parameters

pose	A Cartesian pose in the same reference frame

Returns: The reference to the combined Cartesian pose

Definition at line 165 of file CartesianPose.cpp.

◆ operator+=() [2/2]

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

Add inplace another pose from a Cartesian state.

Parameters

state A Cartesian state in the same reference frame

Returns: The reference to the combined Cartesian pose

Definition at line 170 of file CartesianPose.cpp.

◆ operator-() [1/3]

CartesianPose state_representation::CartesianPose::operator- ( ) const

Negate a Cartesian pose.

Returns: The negative value of the Cartesian pose

Definition at line 183 of file CartesianPose.cpp.

◆ operator-() [2/3]

CartesianPose state_representation::CartesianPose::operator- ( const CartesianPose & pose ) const

Compute the difference with another Cartesian pose.

Parameters

pose	A Cartesian pose in the same reference frame

Returns: The difference in pose

Definition at line 197 of file CartesianPose.cpp.

◆ operator-() [3/3]

CartesianState state_representation::CartesianPose::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 201 of file CartesianPose.cpp.

◆ operator-=() [1/2]

CartesianPose & state_representation::CartesianPose::operator-= ( const CartesianPose & pose )

Compute inplace the difference with another Cartesian pose.

Parameters

pose	A Cartesian pose in the same reference frame

Returns: The reference to the difference in pose

Definition at line 187 of file CartesianPose.cpp.

◆ operator-=() [2/2]

CartesianPose & state_representation::CartesianPose::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 pose

Definition at line 192 of file CartesianPose.cpp.

◆ operator/() [1/2]

CartesianTwist state_representation::CartesianPose::operator/ ( const std::chrono::nanoseconds & dt ) const

Differentiate a Cartesian pose over a time period.

Parameters

dt	The time period used for derivation

Returns: The resulting Cartesian twist after derivation

Definition at line 151 of file CartesianPose.cpp.

◆ operator/() [2/2]

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

Scale a Cartesian pose 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 147 of file CartesianPose.cpp.

◆ operator/=()

CartesianPose & state_representation::CartesianPose::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 pose

Definition at line 142 of file CartesianPose.cpp.

◆ operator=()

CartesianPose & state_representation::CartesianPose::operator= ( const CartesianPose & pose )

default

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

Parameters

pose	The pose with value to assign

Returns: Reference to the current pose with new values

◆ Random()

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

static

Constructor for a random pose.

Parameters

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

Returns: Cartesian random pose

Definition at line 62 of file CartesianPose.cpp.

◆ set_data() [1/2]

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

overridevirtual

Set the pose data from an Eigen vector.

Reimplemented from state_representation::CartesianState.

Definition at line 70 of file CartesianPose.cpp.

◆ set_data() [2/2]

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

overridevirtual

Set the pose data from a std vector.

Reimplemented from state_representation::CartesianState.

Definition at line 78 of file CartesianPose.cpp.

Friends And Related Symbol Documentation

◆ operator*

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

friend

Scale a Cartesian pose 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
pose	The Cartesian pose to be scaled

Returns: The scaled Cartesian pose

Definition at line 138 of file CartesianPose.cpp.

◆ operator<<

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

friend

Overload the ostream operator for printing.

Parameters

os	The ostream to append the string representing the Cartesian pose to
CartesianPose	The Cartesian pose to print

Returns: The appended ostream

Definition at line 205 of file CartesianPose.cpp.

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

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

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CartesianPose() [1/9]

◆ CartesianPose() [2/9]

◆ CartesianPose() [3/9]

◆ CartesianPose() [4/9]

◆ CartesianPose() [5/9]

◆ CartesianPose() [6/9]

◆ CartesianPose() [7/9]

◆ CartesianPose() [8/9]

◆ CartesianPose() [9/9]

Member Function Documentation

◆ copy()

◆ data()

◆ Identity()

◆ inverse()

◆ normalized()

◆ norms()

◆ operator*() [1/6]

◆ operator*() [2/6]

◆ operator*() [3/6]

◆ operator*() [4/6]

◆ operator*() [5/6]

◆ operator*() [6/6]

◆ operator*=() [1/3]

◆ operator*=() [2/3]

◆ operator*=() [3/3]

◆ 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/() [1/2]

◆ operator/() [2/2]

◆ operator/=()

◆ operator=()

◆ Random()

◆ set_data() [1/2]

◆ set_data() [2/2]

Friends And Related Symbol Documentation

◆ operator*

◆ operator<<