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

#include <DualQuaternionState.hpp>

Inheritance diagram for state_representation::DualQuaternionState:

Public Member Functions
	DualQuaternionState ()
	Empty constructor.

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

	DualQuaternionState (const DualQuaternionState &state)
	Copy constructor.

	DualQuaternionState (const std::string &name, const Eigen::Quaterniond &primary, const Eigen::Quaterniond &dual, const std::string &reference="world")
	Construct a DualQuaternion from two quaternions.

const Eigen::Quaterniond &	get_primary () const
	Getter of the primary attribute.

const Eigen::Quaterniond &	get_dual () const
	Getter of the dual attribute.

void	set_primary (const Eigen::Quaterniond &primary)
	Setter of the primary attribute.

void	set_dual (const Eigen::Quaterniond &dual)
	Setter of the dual attribute.

DualQuaternionState &	operator*= (const DualQuaternionState &q)
	Overload the *= operator.

const DualQuaternionState	operator* (const DualQuaternionState &p) const
	Overload the * operator.

const DualQuaternionState	conjugate () const
	compute the conjugate of the current DualQuaternion

virtual void	initialize ()
	Initialize the DualQuaternionState to a zero value.

const DualQuaternionState	copy () const
	Return a copy of the DualQuaternionState.

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::VectorXd &data)
	Set the data of the state from an Eigen vector.

virtual void	set_data (const std::vector< double > &data)
	Set the data of the state from a std vector.

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.

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

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

Friends
const DualQuaternionState	operator* (const float &lambda, const DualQuaternionState &state)
	Overload the * operator with a scalar.

const DualQuaternionState	exp (const DualQuaternionState &state)
	overload exp function

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

Additional Inherited Members
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 represent a state in Dual Quaternion space.

Definition at line 10 of file DualQuaternionState.hpp.

Constructor & Destructor Documentation

◆ DualQuaternionState() [1/4]

state_representation::DualQuaternionState::DualQuaternionState ( )

explicit

Empty constructor.

Definition at line 4 of file DualQuaternionState.cpp.

◆ DualQuaternionState() [2/4]

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

explicit

Constructor with name and reference frame provided.

name the name of the state

reference the name of the reference frame

Definition at line 7 of file DualQuaternionState.cpp.

◆ DualQuaternionState() [3/4]

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

Copy constructor.

Definition at line 12 of file DualQuaternionState.cpp.

◆ DualQuaternionState() [4/4]

state_representation::DualQuaternionState::DualQuaternionState	(	const std::string &	name,
		const Eigen::Quaterniond &	primary,
		const Eigen::Quaterniond &	dual,
		const std::string &	reference = `"world"`
	)

explicit

Construct a DualQuaternion from two quaternions.

Parameters

name	the name of the state
primary	the value of the primary quaternion
dual	the value of the dual quaternion

Definition at line 17 of file DualQuaternionState.cpp.

Member Function Documentation

◆ conjugate()

const DualQuaternionState state_representation::DualQuaternionState::conjugate ( ) const

compute the conjugate of the current DualQuaternion

Returns: the inverse

Definition at line 42 of file DualQuaternionState.cpp.

◆ copy()

const DualQuaternionState state_representation::DualQuaternionState::copy ( ) const

Return a copy of the DualQuaternionState.

Returns: the copy

Definition at line 78 of file DualQuaternionState.cpp.

◆ get_dual()

const Eigen::Quaterniond & state_representation::DualQuaternionState::get_dual ( ) const

inline

Getter of the dual attribute.

Definition at line 122 of file DualQuaternionState.hpp.

◆ get_primary()

const Eigen::Quaterniond & state_representation::DualQuaternionState::get_primary ( ) const

inline

Getter of the primary attribute.

Definition at line 118 of file DualQuaternionState.hpp.

◆ initialize()

void state_representation::DualQuaternionState::initialize ( )

virtual

Initialize the DualQuaternionState to a zero value.

Reimplemented in state_representation::DualQuaternionPose, and state_representation::DualQuaternionTwist.

Definition at line 49 of file DualQuaternionState.cpp.

◆ operator*()

const DualQuaternionState state_representation::DualQuaternionState::operator* ( const DualQuaternionState & p ) const

Overload the * operator.

Parameters

p	DualQuaternionState to multiply with

Returns: the current DualQuaternionState multiply by the DualQuaternionState given in argument

Definition at line 36 of file DualQuaternionState.cpp.

◆ operator*=()

DualQuaternionState & state_representation::DualQuaternionState::operator*= ( const DualQuaternionState & q )

Overload the *= operator.

Parameters

q	DualQuaternion to multiply with

Returns: the current DualQuaternion multiply by the DualQuaternion given in argument

Definition at line 26 of file DualQuaternionState.cpp.

◆ set_dual()

void state_representation::DualQuaternionState::set_dual ( const Eigen::Quaterniond & dual )

inline

Setter of the dual attribute.

Definition at line 131 of file DualQuaternionState.hpp.

◆ set_primary()

void state_representation::DualQuaternionState::set_primary ( const Eigen::Quaterniond & primary )

inline

Setter of the primary attribute.

Definition at line 126 of file DualQuaternionState.hpp.

Friends And Related Symbol Documentation

◆ exp

const DualQuaternionState exp ( const DualQuaternionState & state )

friend

overload exp function

Parameters

state the DualQuaternion to operate on

Returns: the exponential of the DualQuaternion provided

Definition at line 62 of file DualQuaternionState.cpp.

◆ operator*

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

friend

Overload the * operator with a scalar.

Parameters

lambda the scalar to multiply with

Returns: the DualQuaternionState provided multiply by lambda

Definition at line 55 of file DualQuaternionState.cpp.

◆ operator<<

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

friend

Overload the ostream operator for printing.

Parameters

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

Returns: the appended ostream

Definition at line 83 of file DualQuaternionState.cpp.

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

/github/workspace/source/state_representation/include/state_representation/space/dual_quaternion/DualQuaternionState.hpp
/github/workspace/source/state_representation/src/space/dual_quaternion/DualQuaternionState.cpp

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DualQuaternionState() [1/4]

◆ DualQuaternionState() [2/4]

◆ DualQuaternionState() [3/4]

◆ DualQuaternionState() [4/4]

Member Function Documentation

◆ conjugate()

◆ copy()

◆ get_dual()

◆ get_primary()

◆ initialize()

◆ operator*()

◆ operator*=()

◆ set_dual()

◆ set_primary()

Friends And Related Symbol Documentation

◆ exp

◆ operator*

◆ operator<<