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

#include <CartesianTwist.hpp>

Inheritance diagram for state_representation::CartesianTwist:

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_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_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_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

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 CartesianAcceleration &acceleration)=delete

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

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

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

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

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

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

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

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

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

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

	CartesianTwist ()
	Empty constructor.

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

	CartesianTwist (const CartesianTwist &twist)
	Copy constructor.

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

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

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

	CartesianTwist (const std::string &name, const Eigen::Vector3d &linear_velocity, const std::string &reference="world")
	Construct a Cartesian twist from a linear velocity given as a vector.

	CartesianTwist (const std::string &name, const Eigen::Vector3d &linear_velocity, const Eigen::Vector3d &angular_velocity, const std::string &reference="world")
	Construct a Cartesian twist from a linear velocity and angular velocity given as vectors.

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

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

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

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

void	set_data (const std::vector< double > &data) override
	Set the twist 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 twist to the values in argument.

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

CartesianTwist	copy () const
	Return a copy of the Cartesian twist.

CartesianTwist	inverse () const
	Compute the inverse of the current Cartesian twist.

CartesianTwist	normalized (const CartesianStateVariable &state_variable_type=CartesianStateVariable::TWIST) const
	Compute the normalized twist at the state variable given in argument (default is full twist)

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

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

CartesianTwist	operator* (double lambda) const
	Scale a Cartesian twist by a scalar.

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

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

CartesianTwist	operator/ (double lambda) const
	Scale a Cartesian twist by a scalar.

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

CartesianTwist &	operator+= (const CartesianTwist &twist)
	Add inplace another Cartesian twist.

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

CartesianTwist	operator+ (const CartesianTwist &twist) const
	Add another Cartesian twist.

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

CartesianTwist	operator- () const
	Negate a Cartesian twist.

CartesianTwist &	operator-= (const CartesianTwist &twist)
	Compute inplace the difference with another Cartesian twist.

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

CartesianTwist	operator- (const CartesianTwist &twist) const
	Compute the difference with another Cartesian twist.

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 CartesianTwist	Zero (const std::string &name, const std::string &reference="world")
	Constructor for the zero twist.

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

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
CartesianTwist	operator* (double lambda, const CartesianTwist &twist)
	Scale a Cartesian twist by a scalar.

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

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

std::ostream &	operator<< (std::ostream &os, const CartesianTwist &twist)
	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 twist in Cartesian space as 3D linear and angular velocity vectors.

Definition at line 18 of file CartesianTwist.hpp.

Constructor & Destructor Documentation

◆ CartesianTwist() [1/9]

state_representation::CartesianTwist::CartesianTwist ( )

explicit

Empty constructor.

Definition at line 8 of file CartesianTwist.cpp.

◆ CartesianTwist() [2/9]

state_representation::CartesianTwist::CartesianTwist	(	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 CartesianTwist.cpp.

◆ CartesianTwist() [3/9]

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

Copy constructor.

Definition at line 48 of file CartesianTwist.cpp.

◆ CartesianTwist() [4/9]

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

Copy constructor from a Cartesian state.

Definition at line 40 of file CartesianTwist.cpp.

◆ CartesianTwist() [5/9]

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

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

Definition at line 51 of file CartesianTwist.cpp.

◆ CartesianTwist() [6/9]

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

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

Definition at line 53 of file CartesianTwist.cpp.

◆ CartesianTwist() [7/9]

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

explicit

Construct a Cartesian twist from a linear velocity given as a vector.

Definition at line 17 of file CartesianTwist.cpp.

◆ CartesianTwist() [8/9]

state_representation::CartesianTwist::CartesianTwist	(	const std::string &	name,
		const Eigen::Vector3d &	linear_velocity,
		const Eigen::Vector3d &	angular_velocity,
		const std::string &	reference = `"world"`
	)

explicit

Construct a Cartesian twist from a linear velocity and angular velocity given as vectors.

Definition at line 24 of file CartesianTwist.cpp.

◆ CartesianTwist() [9/9]

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

explicit

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

Definition at line 33 of file CartesianTwist.cpp.

Member Function Documentation

◆ clamp()

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

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

Parameters

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

Definition at line 82 of file CartesianTwist.cpp.

◆ clamped()

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

Returns: The clamped twist

Definition at line 91 of file CartesianTwist.cpp.

◆ copy()

CartesianTwist state_representation::CartesianTwist::copy ( ) const

Return a copy of the Cartesian twist.

Definition at line 99 of file CartesianTwist.cpp.

◆ data()

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

overridevirtual

Returns the twist data as an Eigen vector.

Reimplemented from state_representation::CartesianState.

Definition at line 66 of file CartesianTwist.cpp.

◆ inverse()

CartesianTwist state_representation::CartesianTwist::inverse ( ) const

Compute the inverse of the current Cartesian twist.

Definition at line 104 of file CartesianTwist.cpp.

◆ normalized()

CartesianTwist state_representation::CartesianTwist::normalized ( const CartesianStateVariable & state_variable_type = CartesianStateVariable::TWIST ) const

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

Parameters

state_variable_type The type of state variable to compute the norms on

Returns: The normalized twist

Definition at line 108 of file CartesianTwist.cpp.

◆ norms()

std::vector< double > state_representation::CartesianTwist::norms ( const CartesianStateVariable & state_variable_type = CartesianStateVariable::TWIST ) const

overridevirtual

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

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 112 of file CartesianTwist.cpp.

◆ operator*() [1/2]

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

Integrate a Cartesian twist over a time period.

Parameters

dt	The time period used for integration

Returns: The resulting Cartesian pose after integration

Definition at line 135 of file CartesianTwist.cpp.

◆ operator*() [2/2]

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

Scale a Cartesian twist 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 twist

Definition at line 121 of file CartesianTwist.cpp.

◆ operator*=()

CartesianTwist & state_representation::CartesianTwist::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 twist

Definition at line 116 of file CartesianTwist.cpp.

◆ operator+() [1/2]

CartesianState state_representation::CartesianTwist::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 191 of file CartesianTwist.cpp.

◆ operator+() [2/2]

CartesianTwist state_representation::CartesianTwist::operator+ ( const CartesianTwist & twist ) const

Add another Cartesian twist.

Parameters

twist A Cartesian twist in the same reference frame

Returns: The combined Cartesian twist

Definition at line 187 of file CartesianTwist.cpp.

◆ operator+=() [1/2]

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

Add inplace another twist from a Cartesian state.

Parameters

state A Cartesian state in the same reference frame

Returns: The reference to the combined Cartesian twist

Definition at line 182 of file CartesianTwist.cpp.

◆ operator+=() [2/2]

CartesianTwist & state_representation::CartesianTwist::operator+= ( const CartesianTwist & twist )

Add inplace another Cartesian twist.

Parameters

twist A Cartesian twist in the same reference frame

Returns: The reference to the combined Cartesian twist

Definition at line 177 of file CartesianTwist.cpp.

◆ operator-() [1/3]

CartesianTwist state_representation::CartesianTwist::operator- ( ) const

Negate a Cartesian twist.

Returns: The negative value of the Cartesian twist

Definition at line 195 of file CartesianTwist.cpp.

◆ operator-() [2/3]

CartesianState state_representation::CartesianTwist::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 213 of file CartesianTwist.cpp.

◆ operator-() [3/3]

CartesianTwist state_representation::CartesianTwist::operator- ( const CartesianTwist & twist ) const

Compute the difference with another Cartesian twist.

Parameters

twist A Cartesian twist in the same reference frame

Returns: The difference in twist

Definition at line 209 of file CartesianTwist.cpp.

◆ operator-=() [1/2]

CartesianTwist & state_representation::CartesianTwist::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 twist

Definition at line 204 of file CartesianTwist.cpp.

◆ operator-=() [2/2]

CartesianTwist & state_representation::CartesianTwist::operator-= ( const CartesianTwist & twist )

Compute inplace the difference with another Cartesian twist.

Parameters

twist A Cartesian twist in the same reference frame

Returns: The reference to the difference in twist

Definition at line 199 of file CartesianTwist.cpp.

◆ operator/() [1/2]

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

Differentiate a Cartesian twist over a time period.

Parameters

dt	The time period used for derivation

Returns: The resulting Cartesian acceleration after derivation

Definition at line 167 of file CartesianTwist.cpp.

◆ operator/() [2/2]

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

Scale a Cartesian twist 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 twist

Definition at line 163 of file CartesianTwist.cpp.

◆ operator/=()

CartesianTwist & state_representation::CartesianTwist::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 twist

Definition at line 158 of file CartesianTwist.cpp.

◆ operator=()

CartesianTwist & state_representation::CartesianTwist::operator= ( const CartesianTwist & twist )

default

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

Parameters

twist The twist with value to assign

Returns: Reference to the current twist with new values

◆ Random()

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

static

Constructor for a random twist.

Parameters

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

Returns: The random Cartesian twist

Definition at line 60 of file CartesianTwist.cpp.

◆ set_data() [1/2]

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

overridevirtual

Set the twist data from an Eigen vector.

Reimplemented from state_representation::CartesianState.

Definition at line 70 of file CartesianTwist.cpp.

◆ set_data() [2/2]

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

overridevirtual

Set the twist data from a std vector.

Reimplemented from state_representation::CartesianState.

Definition at line 78 of file CartesianTwist.cpp.

◆ Zero()

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

static

Constructor for the zero twist.

Parameters

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

Returns: The zero Cartesian twist

Definition at line 56 of file CartesianTwist.cpp.

Friends And Related Symbol Documentation

◆ operator* [1/3]

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

friend

Scale a Cartesian twist in all dimensions by a matrix.

Parameters

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

Returns: The scaled Cartesian twist

Definition at line 129 of file CartesianTwist.cpp.

◆ operator* [2/3]

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

friend

Integrate a Cartesian twist over a time period.

Parameters

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

Returns: The resulting Cartesian pose after integration

Definition at line 154 of file CartesianTwist.cpp.

◆ operator* [3/3]

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

friend

Scale a Cartesian twist 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
twist	The Cartesian twist to be scaled

Returns: The scaled Cartesian twist

Definition at line 125 of file CartesianTwist.cpp.

◆ operator<<

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

friend

Overload the ostream operator for printing.

Parameters

os	The ostream to append the string representing the Cartesian twist to
CartesianTwist	The Cartesian twist to print

Returns: The appended ostream

Definition at line 217 of file CartesianTwist.cpp.

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

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

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CartesianTwist() [1/9]

◆ CartesianTwist() [2/9]

◆ CartesianTwist() [3/9]

◆ CartesianTwist() [4/9]

◆ CartesianTwist() [5/9]

◆ CartesianTwist() [6/9]

◆ CartesianTwist() [7/9]

◆ CartesianTwist() [8/9]

◆ CartesianTwist() [9/9]

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/() [1/2]

◆ operator/() [2/2]

◆ 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<<