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

#include <DualQuaternionTwist.hpp>

Inheritance diagram for state_representation::DualQuaternionTwist:

Public Member Functions
	DualQuaternionTwist (const std::string &name, const std::string &reference="world")
	Constructor with name and reference frame provided.

	DualQuaternionTwist (const DualQuaternionTwist &state)
	Copy constructor of a DualQuaternionTwist.

	DualQuaternionTwist (const std::string &name, const Eigen::Vector3d &linear_velocity, const Eigen::Vector3d &angular_velocity, const Eigen::Vector3d &position, const std::string &reference)
	Construct a DualQuaternionTwist from a position given as a vector of coordinates, a linear and an angular velocities.

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

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.

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

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

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

void	operator= (const DualQuaternionState &q)
	Overload the = operator to create a twist from a DualQuaternionState. Note that the linear velocity will be computed from the value of the dual and the current position.

void	initialize ()
	Initialize the DualQuaternionPose to a zero value.

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

Public Member Functions inherited from state_representation::DualQuaternionState
	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

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
std::ostream &	operator<< (std::ostream &os, const DualQuaternionTwist &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 Twist in Dual Quaternion space.

Definition at line 10 of file DualQuaternionTwist.hpp.

Constructor & Destructor Documentation

◆ DualQuaternionTwist() [1/3]

state_representation::DualQuaternionTwist::DualQuaternionTwist	(	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 4 of file DualQuaternionTwist.cpp.

◆ DualQuaternionTwist() [2/3]

state_representation::DualQuaternionTwist::DualQuaternionTwist ( const DualQuaternionTwist & state )

Copy constructor of a DualQuaternionTwist.

Definition at line 9 of file DualQuaternionTwist.cpp.

◆ DualQuaternionTwist() [3/3]

state_representation::DualQuaternionTwist::DualQuaternionTwist	(	const std::string &	name,
		const Eigen::Vector3d &	linear_velocity,
		const Eigen::Vector3d &	angular_velocity,
		const Eigen::Vector3d &	position,
		const std::string &	reference
	)

explicit

Construct a DualQuaternionTwist from a position given as a vector of coordinates, a linear and an angular velocities.

Definition at line 12 of file DualQuaternionTwist.cpp.

Member Function Documentation

◆ copy()

const DualQuaternionTwist state_representation::DualQuaternionTwist::copy ( ) const

Return a copy of the DualQuaternionTwist.

Returns: the copy

Definition at line 36 of file DualQuaternionTwist.cpp.

◆ get_angular_velocity()

const Eigen::Vector3d state_representation::DualQuaternionTwist::get_angular_velocity ( ) const

inline

Getter of the angular_velocity attribute.

Definition at line 101 of file DualQuaternionTwist.hpp.

◆ get_linear_velocity()

const Eigen::Vector3d & state_representation::DualQuaternionTwist::get_linear_velocity ( ) const

inline

Getter of the linear_velocity attribute.

Definition at line 97 of file DualQuaternionTwist.hpp.

◆ get_position()

const Eigen::Vector3d & state_representation::DualQuaternionTwist::get_position ( ) const

inline

Getter of the position attribute.

Definition at line 93 of file DualQuaternionTwist.hpp.

◆ initialize()

void state_representation::DualQuaternionTwist::initialize ( )

virtual

Initialize the DualQuaternionPose to a zero value.

Reimplemented from state_representation::DualQuaternionState.

Definition at line 30 of file DualQuaternionTwist.cpp.

◆ operator=()

void state_representation::DualQuaternionTwist::operator= ( const DualQuaternionState & q )

Overload the = operator to create a twist from a DualQuaternionState. Note that the linear velocity will be computed from the value of the dual and the current position.

Definition at line 24 of file DualQuaternionTwist.cpp.

◆ set_angular_velocity()

void state_representation::DualQuaternionTwist::set_angular_velocity ( const Eigen::Vector3d & angular_velocity )

inline

Setter of the angular_velocity.

Definition at line 111 of file DualQuaternionTwist.hpp.

◆ set_linear_velocity()

void state_representation::DualQuaternionTwist::set_linear_velocity ( const Eigen::Vector3d & linear_velocity )

inline

Setter of the linear_velocity.

Definition at line 105 of file DualQuaternionTwist.hpp.

◆ set_position()

void state_representation::DualQuaternionTwist::set_position ( const Eigen::Vector3d & position )

inline

Setter of the position.

Definition at line 117 of file DualQuaternionTwist.hpp.

Friends And Related Symbol Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const DualQuaternionTwist &	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 41 of file DualQuaternionTwist.cpp.

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

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

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DualQuaternionTwist() [1/3]

◆ DualQuaternionTwist() [2/3]

◆ DualQuaternionTwist() [3/3]

Member Function Documentation

◆ copy()

◆ get_angular_velocity()

◆ get_linear_velocity()

◆ get_position()

◆ initialize()

◆ operator=()

◆ set_angular_velocity()

◆ set_linear_velocity()

◆ set_position()

Friends And Related Symbol Documentation

◆ operator<<