Class to define wrench in Cartesian space as 3D force and torque vectors. More...

#include <CartesianWrench.hpp>

Inheritance diagram for state_representation::CartesianWrench:

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_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

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_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

CartesianState	inverse () const =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 CartesianAcceleration &acceleration)=delete

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

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

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

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

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

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

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

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

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

	CartesianWrench ()
	Empty constructor.

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

	CartesianWrench (const CartesianWrench &wrench)
	Copy constructor.

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

	CartesianWrench (const std::string &name, const Eigen::Vector3d &force, const std::string &reference="world")
	Construct a Cartesian wrench from a force given as a vector.

	CartesianWrench (const std::string &name, const Eigen::Vector3d &force, const Eigen::Vector3d &torque, const std::string &reference="world")
	Construct a Cartesian wrench from a force and torque given as vectors.

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

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

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

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

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

void	clamp (double max_force, double max_torque, double force_noise_ratio=0, double torque_noise_ratio=0)
	Clamp inplace the magnitude of the wrench to the values in argument.

CartesianWrench	clamped (double max_force, double max_torque, double force_noise_ratio=0, double torque_noise_ratio=0) const
	Return the clamped wrench.

CartesianWrench	copy () const
	Return a copy of the Cartesian wrench.

CartesianWrench	normalized (const CartesianStateVariable &state_variable_type=CartesianStateVariable::WRENCH) const
	Compute the normalized wrench at the state variable given in argument (default is full wrench)

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

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

CartesianWrench	operator* (double lambda) const
	Scale a Cartesian wrench by a scalar.

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

CartesianWrench	operator/ (double lambda) const
	Scale a Cartesian wrench by a scalar.

CartesianWrench &	operator+= (const CartesianWrench &wrench)
	Add inplace another Cartesian wrench.

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

CartesianWrench	operator+ (const CartesianWrench &wrench) const
	Add another Cartesian wrench.

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

CartesianWrench	operator- () const
	Negate a Cartesian wrench.

CartesianWrench &	operator-= (const CartesianWrench &wrench)
	Compute inplace the difference with another Cartesian wrench.

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

CartesianWrench	operator- (const CartesianWrench &wrench) const
	Compute the difference with another Cartesian wrench.

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

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

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
CartesianWrench	operator* (double lambda, const CartesianWrench &wrench)
	Scale a Cartesian wrench by a scalar.

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

std::ostream &	operator<< (std::ostream &os, const CartesianWrench &wrench)
	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 wrench in Cartesian space as 3D force and torque vectors.

Definition at line 18 of file CartesianWrench.hpp.

Constructor & Destructor Documentation

◆ CartesianWrench() [1/7]

state_representation::CartesianWrench::CartesianWrench ( )

explicit

Empty constructor.

Definition at line 8 of file CartesianWrench.cpp.

◆ CartesianWrench() [2/7]

state_representation::CartesianWrench::CartesianWrench	(	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 CartesianWrench.cpp.

◆ CartesianWrench() [3/7]

state_representation::CartesianWrench::CartesianWrench ( const CartesianWrench & wrench )

Copy constructor.

Definition at line 46 of file CartesianWrench.cpp.

◆ CartesianWrench() [4/7]

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

Copy constructor from a Cartesian state.

Definition at line 38 of file CartesianWrench.cpp.

◆ CartesianWrench() [5/7]

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

explicit

Construct a Cartesian wrench from a force given as a vector.

Definition at line 17 of file CartesianWrench.cpp.

◆ CartesianWrench() [6/7]

state_representation::CartesianWrench::CartesianWrench	(	const std::string &	name,
		const Eigen::Vector3d &	force,
		const Eigen::Vector3d &	torque,
		const std::string &	reference = `"world"`
	)

explicit

Construct a Cartesian wrench from a force and torque given as vectors.

Definition at line 23 of file CartesianWrench.cpp.

◆ CartesianWrench() [7/7]

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

explicit

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

Definition at line 31 of file CartesianWrench.cpp.

Member Function Documentation

◆ clamp()

void state_representation::CartesianWrench::clamp	(	double	max_force,
		double	max_torque,
		double	force_noise_ratio = `0`,
		double	torque_noise_ratio = `0`
	)

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

Parameters

max_force	The maximum magnitude of the force
max_torque	The maximum magnitude of the torque
force_noise_ratio	If provided, this value will be used to apply a deadzone under which the force will be set to 0
torque_noise_ratio	If provided, this value will be used to apply a deadzone under which the torque will be set to 0

Definition at line 75 of file CartesianWrench.cpp.

◆ clamped()

CartesianWrench state_representation::CartesianWrench::clamped	(	double	max_force,
		double	max_torque,
		double	force_noise_ratio = `0`,
		double	torque_noise_ratio = `0`
	)		const

Return the clamped wrench.

Parameters

max_force	The maximum magnitude of the force
max_torque	The maximum magnitude of the torque
force_noise_ratio	If provided, this value will be used to apply a deadzone under which the force will be set to 0
torque_noise_ratio	If provided, this value will be used to apply a deadzone under which the torque will be set to 0

Returns: The clamped wrench

Definition at line 82 of file CartesianWrench.cpp.

◆ copy()

CartesianWrench state_representation::CartesianWrench::copy ( ) const

Return a copy of the Cartesian wrench.

Definition at line 90 of file CartesianWrench.cpp.

◆ data()

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

overridevirtual

Returns the wrench data as an Eigen vector.

Reimplemented from state_representation::CartesianState.

Definition at line 59 of file CartesianWrench.cpp.

◆ normalized()

CartesianWrench state_representation::CartesianWrench::normalized ( const CartesianStateVariable & state_variable_type = CartesianStateVariable::WRENCH ) const

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

Parameters

state_variable_type The type of state variable to compute the norms on

Returns: The normalized wrench

Definition at line 95 of file CartesianWrench.cpp.

◆ norms()

std::vector< double > state_representation::CartesianWrench::norms ( const CartesianStateVariable & state_variable_type = CartesianStateVariable::WRENCH ) const

overridevirtual

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

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 99 of file CartesianWrench.cpp.

◆ operator*()

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

Scale a Cartesian wrench 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 wrench

Definition at line 112 of file CartesianWrench.cpp.

◆ operator*=()

CartesianWrench & state_representation::CartesianWrench::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 wrench

Definition at line 103 of file CartesianWrench.cpp.

◆ operator+() [1/2]

CartesianState state_representation::CartesianWrench::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 145 of file CartesianWrench.cpp.

◆ operator+() [2/2]

CartesianWrench state_representation::CartesianWrench::operator+ ( const CartesianWrench & wrench ) const

Add another Cartesian wrench.

Parameters

wrench A Cartesian wrench in the same reference frame

Returns: The combined Cartesian wrench

Definition at line 141 of file CartesianWrench.cpp.

◆ operator+=() [1/2]

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

Add inplace another wrench from a Cartesian state.

Parameters

state A Cartesian state in the same reference frame

Returns: The reference to the combined Cartesian wrench

Definition at line 136 of file CartesianWrench.cpp.

◆ operator+=() [2/2]

CartesianWrench & state_representation::CartesianWrench::operator+= ( const CartesianWrench & wrench )

Add inplace another Cartesian wrench.

Parameters

wrench A Cartesian wrench in the same reference frame

Returns: The reference to the combined Cartesian wrench

Definition at line 131 of file CartesianWrench.cpp.

◆ operator-() [1/3]

CartesianWrench state_representation::CartesianWrench::operator- ( ) const

Negate a Cartesian wrench.

Returns: The negative value of the Cartesian wrench

Definition at line 149 of file CartesianWrench.cpp.

◆ operator-() [2/3]

CartesianState state_representation::CartesianWrench::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 167 of file CartesianWrench.cpp.

◆ operator-() [3/3]

CartesianWrench state_representation::CartesianWrench::operator- ( const CartesianWrench & wrench ) const

Compute the difference with another Cartesian wrench.

Parameters

wrench A Cartesian wrench in the same reference frame

Returns: The difference in wrench

Definition at line 163 of file CartesianWrench.cpp.

◆ operator-=() [1/2]

CartesianWrench & state_representation::CartesianWrench::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 wrench

Definition at line 158 of file CartesianWrench.cpp.

◆ operator-=() [2/2]

CartesianWrench & state_representation::CartesianWrench::operator-= ( const CartesianWrench & wrench )

Compute inplace the difference with another Cartesian wrench.

Parameters

wrench A Cartesian wrench in the same reference frame

Returns: The reference to the difference in wrench

Definition at line 153 of file CartesianWrench.cpp.

◆ operator/()

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

Scale a Cartesian wrench 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 wrench

Definition at line 127 of file CartesianWrench.cpp.

◆ operator/=()

CartesianWrench & state_representation::CartesianWrench::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 wrench

Definition at line 122 of file CartesianWrench.cpp.

◆ operator=()

CartesianWrench & state_representation::CartesianWrench::operator= ( const CartesianWrench & wrench )

default

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

Parameters

wrench The wrench with value to assign

Returns: Reference to the current wrench with new values

◆ Random()

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

static

Constructor for a random wrench.

Parameters

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

Returns: The random Cartesian wrench

Definition at line 53 of file CartesianWrench.cpp.

◆ set_data() [1/2]

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

overridevirtual

Set the wrench data from an Eigen vector.

Reimplemented from state_representation::CartesianState.

Definition at line 63 of file CartesianWrench.cpp.

◆ set_data() [2/2]

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

overridevirtual

Set the wrench data from a std vector.

Reimplemented from state_representation::CartesianState.

Definition at line 71 of file CartesianWrench.cpp.

◆ Zero()

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

static

Constructor for the zero wrench.

Parameters

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

Returns: The zero Cartesian wrench

Definition at line 49 of file CartesianWrench.cpp.

Friends And Related Symbol Documentation

◆ operator* [1/2]

CartesianWrench operator*	(	const Eigen::Matrix< double, 6, 6 > &	lambda,
		const CartesianWrench &	wrench
	)

friend

Scale a Cartesian wrench in all dimensions by a matrix.

Parameters

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

Returns: The scaled Cartesian wrench

Definition at line 116 of file CartesianWrench.cpp.

◆ operator* [2/2]

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

friend

Scale a Cartesian wrench 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
wrench	The Cartesian wrench to be scaled

Returns: The scaled Cartesian wrench

Definition at line 108 of file CartesianWrench.cpp.

◆ operator<<

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

friend

Overload the ostream operator for printing.

Parameters

os	The ostream to append the string representing the Cartesian wrench to
CartesianWrench	The Cartesian wrench to print

Returns: The appended ostream

Definition at line 171 of file CartesianWrench.cpp.

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

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

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CartesianWrench() [1/7]

◆ CartesianWrench() [2/7]

◆ CartesianWrench() [3/7]

◆ CartesianWrench() [4/7]

◆ CartesianWrench() [5/7]

◆ CartesianWrench() [6/7]

◆ CartesianWrench() [7/7]

Member Function Documentation

◆ clamp()

◆ clamped()

◆ copy()

◆ data()

◆ normalized()

◆ norms()

◆ operator*()

◆ 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* [1/2]

◆ operator* [2/2]

◆ operator<<