Inheritance diagram for state_representation::Ellipsoid:

Public Member Functions
	Ellipsoid ()
	Empty constructor.

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

	Ellipsoid (const Ellipsoid &ellipsoid)
	Copy constructor from another Ellipsoid.

Ellipsoid &	operator= (const Ellipsoid &state)
	Copy assignment operator that has to be defined to the custom assignment operator.

const std::vector< double > &	get_axis_lengths () const
	Getter of the axis lengths.

double	get_axis_length (unsigned int index) const
	Getter of the axis length in one direction.

double	get_rotation_angle () const
	Getter of the rotation angle.

const CartesianPose	get_rotation () const
	Getter of the rotation as a pose.

void	set_axis_lengths (const std::vector< double > &axis_lengths)
	Setter of the axis lengths.

void	set_axis_lengths (unsigned int index, double axis_length)
	Setter of the axis length at given index.

void	set_rotation_angle (double rotation_angle)
	Setter of the rotation angle.

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

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

const std::list< CartesianPose >	sample_from_parameterization (unsigned int nb_samples) const
	Function to sample an obstacle from its parameterization.

const std::vector< double >	to_std_vector () const
	Convert the Ellipsoid to an std vector representation of its parameter.

Public Member Functions inherited from state_representation::Shape
	Shape ()
	Empty constructor.

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

	Shape (const Shape &shape)
	Copy constructor from another Shape.

Shape &	operator= (const Shape &state)
	Copy assignment operator that has to be defined to the custom assignment operator.

const CartesianState &	get_center_state () const
	Getter of the state.

const CartesianPose &	get_center_pose () const
	Getter of the pose from the state.

const Eigen::Vector3d	get_center_position () const
	Getter of the position from the state.

const Eigen::Quaterniond	get_center_orientation () const
	Getter of the orientation from the state.

const CartesianTwist &	get_center_twist () const
	Getter of the twist from the state.

void	set_center_state (const CartesianState &state)
	Setter of the state.

void	set_center_pose (const CartesianPose &pose)
	Setter of the pose.

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

void	set_center_orientation (const Eigen::Quaterniond &orientation)
	Setter of the pose.

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.

virtual bool	is_incompatible (const State &state) const
	Check if the state is incompatible for operations with the state given as argument.

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.

Static Public Member Functions
static Ellipsoid	Unit (const std::string &name, const std::string &reference_frame="world")
	Constructor for a Ellipsoid with identity state, unit axis lengths and zero rotation angle.

static const Ellipsoid	fit (const std::string &name, const std::list< CartesianPose > &points, const std::string &reference_frame="world", double noise_level=0.01)
	Fit an Ellipsoid on a set of points This method uses direct least square fitting from Fitzgibbon, A., et al. (1999). "Direct least square fitting of ellipses." IEEE Transactions on pattern analysis and machine intelligence 21(5)

static const Ellipsoid	from_algebraic_equation (const std::string &name, const std::vector< double > &coefficients, const std::string &reference_frame="world")
	Compute an Ellipsoid from its algebraic equation ax2 + bxy + cy2 + cx + ey + f.

Static Public Member Functions inherited from state_representation::Shape
static Shape	Unit (const std::string &name, const std::string &reference_frame="world")
	Constructor for a Shape with identity state.

Friends
void	swap (Ellipsoid &state1, Ellipsoid &state2)
	Swap the values of the two Ellipsoids.

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

Additional Inherited Members
Protected Member Functions inherited from state_representation::Shape
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

Definition at line 12 of file Ellipsoid.hpp.

Constructor & Destructor Documentation

◆ Ellipsoid() [1/3]

state_representation::Ellipsoid::Ellipsoid ( )

Empty constructor.

Definition at line 12 of file Ellipsoid.cpp.

◆ Ellipsoid() [2/3]

state_representation::Ellipsoid::Ellipsoid	(	const std::string &	name,
		const std::string &	reference_frame = `"world"`
	)

explicit

Constructor with name and reference frame.

Parameters

name	Name of the Ellipsoid and its state
reference_frame	The reference frame in which the state is expressed (default is "world")

Definition at line 16 of file Ellipsoid.cpp.

◆ Ellipsoid() [3/3]

state_representation::Ellipsoid::Ellipsoid ( const Ellipsoid & ellipsoid )

Copy constructor from another Ellipsoid.

Parameters

shape The Ellipsoid to copy from

Definition at line 21 of file Ellipsoid.cpp.

Member Function Documentation

◆ fit()

const Ellipsoid state_representation::Ellipsoid::fit	(	const std::string &	name,
		const std::list< CartesianPose > &	points,
		const std::string &	reference_frame = `"world"`,
		double	noise_level = `0.01`
	)

static

Fit an Ellipsoid on a set of points This method uses direct least square fitting from Fitzgibbon, A., et al. (1999). "Direct least square fitting of ellipses." IEEE Transactions on pattern analysis and machine intelligence 21(5)

Definition at line 93 of file Ellipsoid.cpp.

◆ from_algebraic_equation()

const Ellipsoid state_representation::Ellipsoid::from_algebraic_equation	(	const std::string &	name,
		const std::vector< double > &	coefficients,
		const std::string &	reference_frame = `"world"`
	)

static

Compute an Ellipsoid from its algebraic equation ax2 + bxy + cy2 + cx + ey + f.

Returns: The Ellipsoid in its geometric representation

Definition at line 176 of file Ellipsoid.cpp.

◆ get_axis_length()

double state_representation::Ellipsoid::get_axis_length ( unsigned int index ) const

Getter of the axis length in one direction.

Parameters

index The index of the length (0 for x, 1 for y and 2 for z)

Returns: The length in the desired direction

Definition at line 46 of file Ellipsoid.cpp.

◆ get_axis_lengths()

const std::vector< double > & state_representation::Ellipsoid::get_axis_lengths ( ) const

Getter of the axis lengths.

Returns: The axis lengths

Definition at line 41 of file Ellipsoid.cpp.

◆ get_rotation()

const CartesianPose state_representation::Ellipsoid::get_rotation ( ) const

Getter of the rotation as a pose.

Definition at line 56 of file Ellipsoid.cpp.

◆ get_rotation_angle()

double state_representation::Ellipsoid::get_rotation_angle ( ) const

Getter of the rotation angle.

Returns: The rotation angle

Definition at line 51 of file Ellipsoid.cpp.

◆ operator=()

Ellipsoid & state_representation::Ellipsoid::operator= ( const Ellipsoid & state )

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

Parameters

state The Ellipsoid with value to assign

Returns: Reference to the current Ellipsoid with new values

Definition at line 35 of file Ellipsoid.cpp.

◆ sample_from_parameterization()

const std::list< CartesianPose > state_representation::Ellipsoid::sample_from_parameterization ( unsigned int nb_samples ) const

Function to sample an obstacle from its parameterization.

Parameters

nb_samples The number of sample points to generate

Returns: The list of sample points

Definition at line 222 of file Ellipsoid.cpp.

◆ set_axis_lengths() [1/2]

void state_representation::Ellipsoid::set_axis_lengths ( const std::vector< double > & axis_lengths )

Setter of the axis lengths.

Parameters

axis_lengths The new values

Definition at line 64 of file Ellipsoid.cpp.

◆ set_axis_lengths() [2/2]

void state_representation::Ellipsoid::set_axis_lengths	(	unsigned int	index,
		double	axis_length
	)

Setter of the axis length at given index.

Parameters

index	The desired index
axis_length	The new length

Definition at line 69 of file Ellipsoid.cpp.

◆ set_data() [1/2]

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

overridevirtual

Set the ellipsoid data from an Eigen vector.

Parameters

The	data vector with [center_position, rotation_angle, axis_lengths]

Reimplemented from state_representation::State.

Definition at line 79 of file Ellipsoid.cpp.

◆ set_data() [2/2]

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

overridevirtual

Set the ellipsoid data from a std vector.

Parameters

The	data vector with [center_position, rotation_angle, axis_lengths]

Reimplemented from state_representation::State.

Definition at line 89 of file Ellipsoid.cpp.

◆ set_rotation_angle()

void state_representation::Ellipsoid::set_rotation_angle ( double rotation_angle )

Setter of the rotation angle.

Parameters

rotation_angle The rotation angle

Definition at line 74 of file Ellipsoid.cpp.

◆ to_std_vector()

const std::vector< double > state_representation::Ellipsoid::to_std_vector ( ) const

Convert the Ellipsoid to an std vector representation of its parameter.

Returns: An std vector with [center_position, rotation_angle, axis_lengths]

Definition at line 243 of file Ellipsoid.cpp.

◆ Unit()

Ellipsoid state_representation::Ellipsoid::Unit	(	const std::string &	name,
		const std::string &	reference_frame = `"world"`
	)

static

Constructor for a Ellipsoid with identity state, unit axis lengths and zero rotation angle.

Parameters

name	Name of the Ellipsoid and its state
reference_frame	The reference frame in which the state is expressed (default is "world")

Definition at line 29 of file Ellipsoid.cpp.

Friends And Related Symbol Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const Ellipsoid &	ellipsoid
	)

friend

Overload the ostream operator for printing.

Parameters

os	The ostream to append the string representing the state
state	The state to print

Returns: The appended ostream

Definition at line 258 of file Ellipsoid.cpp.

◆ swap

void swap	(	Ellipsoid &	state1,
		Ellipsoid &	state2
	)

friend

Swap the values of the two Ellipsoids.

Parameters

state1	Ellipsoid to be swapped with 2
state2	Ellipsoid to be swapped with 1

Definition at line 153 of file Ellipsoid.hpp.

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

/github/workspace/source/state_representation/include/state_representation/geometry/Ellipsoid.hpp
/github/workspace/source/state_representation/src/geometry/Ellipsoid.cpp

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Ellipsoid() [1/3]

◆ Ellipsoid() [2/3]

◆ Ellipsoid() [3/3]

Member Function Documentation

◆ fit()

◆ from_algebraic_equation()

◆ get_axis_length()

◆ get_axis_lengths()

◆ get_rotation()

◆ get_rotation_angle()

◆ operator=()

◆ sample_from_parameterization()

◆ set_axis_lengths() [1/2]

◆ set_axis_lengths() [2/2]

◆ set_data() [1/2]

◆ set_data() [2/2]

◆ set_rotation_angle()

◆ to_std_vector()

◆ Unit()

Friends And Related Symbol Documentation

◆ operator<<

◆ swap