Class to define a state in joint space. More...

#include <JointState.hpp>

Inheritance diagram for state_representation::JointState:

Public Member Functions
	JointState ()
	Empty constructor for a joint state.

	JointState (const std::string &robot_name, unsigned int nb_joints=0)
	Constructor with name and number of joints provided.

	JointState (const std::string &robot_name, const std::vector< std::string > &joint_names)
	Constructor with name and list of joint names provided.

	JointState (const JointState &state)
	Copy constructor of a joint state.

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

unsigned int	get_size () const
	Getter of the size from the attributes.

const std::vector< std::string > &	get_names () const
	Getter of the names attribute.

unsigned int	get_joint_index (const std::string &joint_name) const
	Get joint index by the name of the joint, if it exists.

const Eigen::VectorXd &	get_positions () const
	Getter of the positions attribute.

double	get_position (const std::string &joint_name) const
	Get the position of a joint by its name, if it exists.

double	get_position (unsigned int joint_index) const
	Get the position of a joint by its index, if it exists.

const Eigen::VectorXd &	get_velocities () const
	Getter of the velocities attribute.

double	get_velocity (const std::string &joint_name) const
	Get the velocity of a joint by its name, if it exists.

double	get_velocity (unsigned int joint_index) const
	Get the velocity of a joint by its index, if it exists.

const Eigen::VectorXd &	get_accelerations () const
	Getter of the accelerations attribute.

double	get_acceleration (const std::string &joint_name) const
	Get the acceleration of a joint by its name, if it exists.

double	get_acceleration (unsigned int joint_index) const
	Get the acceleration of a joint by its index, if it exists.

const Eigen::VectorXd &	get_torques () const
	Getter of the torques attribute.

double	get_torque (const std::string &joint_name) const
	Get the torque of a joint by its name, if it exists.

double	get_torque (unsigned int joint_index) const
	Get the torque of a joint by its index, if it exists.

virtual Eigen::VectorXd	data () const
	Returns the data as the concatenation of all the state variables in a single vector.

Eigen::ArrayXd	array () const
	Returns the data vector as an Eigen array.

void	set_names (unsigned int nb_joints)
	Setter of the names attribute from the number of joints.

void	set_names (const std::vector< std::string > &names)
	Setter of the names attribute.

void	set_positions (const Eigen::VectorXd &positions)
	Setter of the positions attribute.

void	set_positions (const std::vector< double > &positions)
	Setter of the positions from std vector.

void	set_position (double position, const std::string &joint_name)
	Set the position of a joint by its name.

void	set_position (double position, unsigned int joint_index)
	Set the position of a joint by its index.

void	set_velocities (const Eigen::VectorXd &velocities)
	Setter of the velocities attribute.

void	set_velocities (const std::vector< double > &velocities)
	Setter of the velocities from std vector.

void	set_velocity (double velocity, const std::string &joint_name)
	Set the velocity of a joint by its name.

void	set_velocity (double velocity, unsigned int joint_index)
	Set the velocity of a joint by its index.

void	set_accelerations (const Eigen::VectorXd &accelerations)
	Setter of the accelerations attribute.

void	set_accelerations (const std::vector< double > &accelerations)
	Setter of the accelerations from std vector.

void	set_acceleration (double acceleration, const std::string &joint_name)
	Set the acceleration of a joint by its name.

void	set_acceleration (double acceleration, unsigned int joint_index)
	Set the acceleration of a joint by its index.

void	set_torques (const Eigen::VectorXd &torques)
	Setter of the torques attribute.

void	set_torques (const std::vector< double > &torques)
	Setter of the torques attributes.

void	set_torque (double torque, const std::string &joint_name)
	Set the torque of a joint by its name.

void	set_torque (double torque, unsigned int joint_index)
	Set the torque of a joint by its index.

virtual void	set_data (const Eigen::VectorXd &data) override
	Set the data of the state from all the state variables in a single Eigen vector.

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

void	clamp_state_variable (double max_absolute_value, const JointStateVariable &state_variable_type, double noise_ratio=0)
	Clamp inplace the magnitude of the a specific joint state variable.

void	clamp_state_variable (const Eigen::ArrayXd &max_absolute_value_array, const JointStateVariable &state_variable_type, const Eigen::ArrayXd &noise_ratio_array)
	Clamp inplace the magnitude of the a specific joint state variable for each individual joint.

JointState	copy () const
	Return a copy of the joint state.

double	dist (const JointState &state, const JointStateVariable &state_variable_type=JointStateVariable::ALL) const
	Compute the distance to another state as the sum of distances between each attribute.

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

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

void	set_zero ()
	Set the joint state to a zero value.

std::vector< double >	to_std_vector () const
	Return the joint state as a std vector.

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

JointState	operator* (double lambda) const
	Scale a joint state by a scalar.

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

JointState	operator/ (double lambda) const
	Scale a joint state by a scalar.

JointState &	operator+= (const JointState &state)
	Add inplace another joint state.

JointState	operator+ (const JointState &state) const
	Add another joint sate.

JointState	operator- () const
	Negate a joint state.

JointState &	operator-= (const JointState &state)
	Compute inplace the difference with another joint state.

JointState	operator- (const JointState &state) const
	Compute the difference with another joint state.

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 JointState	Zero (const std::string &robot_name, unsigned int nb_joints)
	Constructor for a zero joint state.

static JointState	Zero (const std::string &robot_name, const std::vector< std::string > &joint_names)
	Constructor for a zero joint state.

static JointState	Random (const std::string &robot_name, unsigned int nb_joints)
	Constructor for a random joint state.

static JointState	Random (const std::string &robot_name, const std::vector< std::string > &joint_names)
	Constructor for a random joint state.

Protected Member Functions
void	multiply_state_variable (const Eigen::MatrixXd &lambda, const JointStateVariable &state_variable_type)
	Proxy function that scale the specified state variable by a matrix.

Eigen::VectorXd	get_state_variable (const JointStateVariable &state_variable_type) const
	Getter of the variable value corresponding to the input.

void	set_state_variable (const Eigen::VectorXd &new_value, const JointStateVariable &state_variable_type)
	Setter of the variable value corresponding to the input.

void	set_state_variable (const std::vector< double > &new_value, const JointStateVariable &state_variable_type)
	Setter of the variable value corresponding to the input.

void	set_state_variable (double new_value, unsigned int joint_index, const JointStateVariable &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::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.

Friends
void	swap (JointState &state1, JointState &state2)
	Swap the values of the two joint states.

double	dist (const JointState &s1, const JointState &s2, const JointStateVariable &state_variable_type)
	Compute the distance between two joint states.

JointState	operator* (double lambda, const JointState &state)
	Scale a joint state by a scalar.

JointState	operator* (const Eigen::MatrixXd &lambda, const JointState &state)
	Scale a joint state by a matrix.

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

Detailed Description

Class to define a state in joint space.

Definition at line 35 of file JointState.hpp.

Constructor & Destructor Documentation

◆ JointState() [1/4]

state_representation::JointState::JointState ( )

Empty constructor for a joint state.

Definition at line 33 of file JointState.cpp.

◆ JointState() [2/4]

state_representation::JointState::JointState	(	const std::string &	robot_name,
		unsigned int	nb_joints = `0`
	)

explicit

Constructor with name and number of joints provided.

Parameters

robot_name	The name of the associated robot
nb_joints	The number of joints for initialization

Definition at line 37 of file JointState.cpp.

◆ JointState() [3/4]

state_representation::JointState::JointState	(	const std::string &	robot_name,
		const std::vector< std::string > &	joint_names
	)

Constructor with name and list of joint names provided.

Parameters

robot_name	The name of the associated robot
joint_names	List of joint names

Definition at line 48 of file JointState.cpp.

◆ JointState() [4/4]

state_representation::JointState::JointState ( const JointState & state )

Copy constructor of a joint state.

Parameters

state The joint state to copy from

Definition at line 53 of file JointState.cpp.

Member Function Documentation

◆ array()

Eigen::ArrayXd state_representation::JointState::array ( ) const

Returns the data vector as an Eigen array.

Returns: The concatenated data array

Definition at line 194 of file JointState.cpp.

◆ clamp_state_variable() [1/2]

void state_representation::JointState::clamp_state_variable	(	const Eigen::ArrayXd &	max_absolute_value_array,
		const JointStateVariable &	state_variable_type,
		const Eigen::ArrayXd &	noise_ratio_array
	)

Clamp inplace the magnitude of the a specific joint state variable for each individual joint.

Parameters

max_absolute_value_array	The maximum absolute value of the state variable for each joint individually
state_variable_type	Name of the variable from the JointStateVariable structure to clamp
noise_ratio_array	Those values will be used to apply a dead zone relative to the maximum absolute value under which the state variable will be set to 0 for each individual joint

Definition at line 356 of file JointState.cpp.

◆ clamp_state_variable() [2/2]

void state_representation::JointState::clamp_state_variable	(	double	max_absolute_value,
		const JointStateVariable &	state_variable_type,
		double	noise_ratio = `0`
	)

Clamp inplace the magnitude of the a specific joint state variable.

Parameters

max_absolute_value	The maximum absolute value of the state variable
state_variable_type	Name of the variable from the JointStateVariable structure to clamp
noise_ratio	If provided, this value will be used to apply a dead zone relative to the maximum absolute value under which the state variable will be set to 0

Definition at line 385 of file JointState.cpp.

◆ copy()

JointState state_representation::JointState::copy ( ) const

Return a copy of the joint state.

Definition at line 395 of file JointState.cpp.

◆ data()

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

virtual

Returns the data as the concatenation of all the state variables in a single vector.

Returns: The concatenated data vector

Reimplemented in state_representation::JointAccelerations, state_representation::JointPositions, state_representation::JointTorques, and state_representation::JointVelocities.

Definition at line 190 of file JointState.cpp.

◆ dist()

double state_representation::JointState::dist	(	const JointState &	state,
		const JointStateVariable &	state_variable_type = `JointStateVariable::ALL`
	)		const

Compute the distance to another state as the sum of distances between each attribute.

Parameters

state	The second state
state_variable_type	Name of the variable from the JointStateVariable structure to apply the distance on (default ALL for full distance across all dimensions)

Returns: dist The distance value as a double

Definition at line 400 of file JointState.cpp.

◆ get_acceleration() [1/2]

double state_representation::JointState::get_acceleration ( const std::string & joint_name ) const

Get the acceleration of a joint by its name, if it exists.

Parameters

joint_name The name of the joint @raises JointNotFoundException if the desired joint doesn't exist

Returns: The acceleration of the joint, if it exists

Definition at line 165 of file JointState.cpp.

◆ get_acceleration() [2/2]

double state_representation::JointState::get_acceleration ( unsigned int joint_index ) const

Get the acceleration of a joint by its index, if it exists.

Parameters

joint_index The index of the joint @raises JointNotFoundException if the desired joint doesn't exist

Returns: The acceleration of the joint, if it exists

Definition at line 169 of file JointState.cpp.

◆ get_accelerations()

const Eigen::VectorXd & state_representation::JointState::get_accelerations ( ) const

Getter of the accelerations attribute.

Returns: The joint accelerations

Definition at line 160 of file JointState.cpp.

◆ get_joint_index()

unsigned int state_representation::JointState::get_joint_index ( const std::string & joint_name ) const

Get joint index by the name of the joint, if it exists.

Parameters

joint_name The name of the desired joint @raises JointNotFoundException if the desired joint doesn't exist

Returns: The index of the joint, if it exists

Definition at line 122 of file JointState.cpp.

◆ get_names()

const std::vector< std::string > & state_representation::JointState::get_names ( ) const

Getter of the names attribute.

Returns: The vector of strings containing the joint names

Definition at line 118 of file JointState.cpp.

◆ get_position() [1/2]

double state_representation::JointState::get_position ( const std::string & joint_name ) const

Get the position of a joint by its name, if it exists.

Parameters

joint_name The name of the joint @raises JointNotFoundException if the desired joint doesn't exist

Returns: The position of the joint, if it exists

Definition at line 135 of file JointState.cpp.

◆ get_position() [2/2]

double state_representation::JointState::get_position ( unsigned int joint_index ) const

Get the position of a joint by its index, if it exists.

Parameters

joint_index The index of the joint @raises JointNotFoundException if the desired joint doesn't exist

Returns: The position of the joint, if it exists

Definition at line 139 of file JointState.cpp.

◆ get_positions()

const Eigen::VectorXd & state_representation::JointState::get_positions ( ) const

Getter of the positions attribute.

Returns: The joint positions

Definition at line 130 of file JointState.cpp.

◆ get_size()

unsigned int state_representation::JointState::get_size ( ) const

Getter of the size from the attributes.

Definition at line 114 of file JointState.cpp.

◆ get_state_variable()

Eigen::VectorXd state_representation::JointState::get_state_variable ( const JointStateVariable & state_variable_type ) const

protected

Getter of the variable value corresponding to the input.

Parameters

state_variable_type The type of variable to get

Returns: The value of the variable as a vector

Definition at line 93 of file JointState.cpp.

◆ get_torque() [1/2]

double state_representation::JointState::get_torque ( const std::string & joint_name ) const

Get the torque of a joint by its name, if it exists.

Parameters

joint_name The name of the joint @raises JointNotFoundException if the desired joint doesn't exist

Returns: The torque of the joint, if it exists

Definition at line 180 of file JointState.cpp.

◆ get_torque() [2/2]

double state_representation::JointState::get_torque ( unsigned int joint_index ) const

Get the torque of a joint by its index, if it exists.

Parameters

joint_index The index of the joint @raises JointNotFoundException if the desired joint doesn't exist

Returns: The torque of the joint, if it exists

Definition at line 184 of file JointState.cpp.

◆ get_torques()

const Eigen::VectorXd & state_representation::JointState::get_torques ( ) const

Getter of the torques attribute.

Returns: The joint torques

Definition at line 175 of file JointState.cpp.

◆ get_velocities()

const Eigen::VectorXd & state_representation::JointState::get_velocities ( ) const

Getter of the velocities attribute.

Returns: The joint velocities

Definition at line 145 of file JointState.cpp.

◆ get_velocity() [1/2]

double state_representation::JointState::get_velocity ( const std::string & joint_name ) const

Get the velocity of a joint by its name, if it exists.

Parameters

joint_name The name of the joint @raises JointNotFoundException if the desired joint doesn't exist

Returns: The velocity of the joint, if it exists

Definition at line 150 of file JointState.cpp.

◆ get_velocity() [2/2]

double state_representation::JointState::get_velocity ( unsigned int joint_index ) const

Get the velocity of a joint by its index, if it exists.

Parameters

joint_index The index of the joint @raises JointNotFoundException if the desired joint doesn't exist

Returns: The velocity of the joint, if it exists

Definition at line 154 of file JointState.cpp.

◆ is_incompatible()

bool state_representation::JointState::is_incompatible ( const State & state ) const

overridevirtual

Check if the joint state is incompatible for operations with the state given as argument.

Parameters

state The state to check compatibility with

Reimplemented from state_representation::State.

Definition at line 432 of file JointState.cpp.

◆ multiply_state_variable()

void state_representation::JointState::multiply_state_variable	(	const Eigen::MatrixXd &	lambda,
		const JointStateVariable &	state_variable_type
	)

protected

Proxy function that scale the specified state variable by a matrix.

Parameters

lambda	The scaling matrix
state_variable_type	The state variable on which to apply the scaling

Definition at line 465 of file JointState.cpp.

◆ operator*()

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

Scale a joint state by a scalar.

All joints in all the state variables are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled joint state

Parameters

lambda The scaling factor

Returns: The scaled joint state

Definition at line 482 of file JointState.cpp.

◆ operator*=()

JointState & state_representation::JointState::operator*= ( double lambda )

Scale inplace by a scalar.

All joints in all the state variables are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled joint state

Definition at line 477 of file JointState.cpp.

◆ operator+()

JointState state_representation::JointState::operator+ ( const JointState & state ) const

Add another joint sate.

Parameters

state A joint state with same name and same joint names

Returns: The combined joint state

Definition at line 523 of file JointState.cpp.

◆ operator+=()

JointState & state_representation::JointState::operator+= ( const JointState & state )

Add inplace another joint state.

Parameters

state A joint state with same name and same joint names

Returns: The reference to the combined joint state

Definition at line 510 of file JointState.cpp.

◆ operator-() [1/2]

JointState state_representation::JointState::operator- ( ) const

Negate a joint state.

Returns: The negative value of the joint state

Definition at line 529 of file JointState.cpp.

◆ operator-() [2/2]

JointState state_representation::JointState::operator- ( const JointState & state ) const

Compute the difference with another joint state.

Parameters

state A joint state with same name and same joint names

Returns: The difference in all the state variables

Definition at line 541 of file JointState.cpp.

◆ operator-=()

JointState & state_representation::JointState::operator-= ( const JointState & state )

Compute inplace the difference with another joint state.

Parameters

state A joint state with same name and same joint names

Returns: The reference to the difference in all the state variables

Definition at line 536 of file JointState.cpp.

◆ operator/()

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

Scale a joint state by a scalar.

All joints in all the state variables are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled joint state

Parameters

lambda The scaling factor

Returns: The scaled joint state

Definition at line 504 of file JointState.cpp.

◆ operator/=()

JointState & state_representation::JointState::operator/= ( double lambda )

Scale inplace by a scalar.

All joints in all the state variables are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled joint state

Parameters

lambda The scaling factor

Returns: The reference to the scaled joint state

Definition at line 500 of file JointState.cpp.

◆ operator=()

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

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

Parameters

state The state with value to assign

Returns: Reference to the current state with new values

Definition at line 87 of file JointState.cpp.

◆ Random() [1/2]

JointState state_representation::JointState::Random	(	const std::string &	robot_name,
		const std::vector< std::string > &	joint_names
	)

static

Constructor for a random joint state.

Parameters

robot_name	The name of the associated robot
joint_names	List of joint names

Returns: Joint state with random values in all attributes

Definition at line 80 of file JointState.cpp.

◆ Random() [2/2]

JointState state_representation::JointState::Random	(	const std::string &	robot_name,
		unsigned int	nb_joints
	)

static

Constructor for a random joint state.

Parameters

robot_name	The name of the associated robot
nb_joints	The number of joints for initialization

Returns: Joint state with random values in all attributes

Definition at line 73 of file JointState.cpp.

◆ reset()

void state_representation::JointState::reset ( )

overridevirtual

Reset the object to a post-construction state.

Reimplemented from state_representation::State.

Definition at line 427 of file JointState.cpp.

◆ set_acceleration() [1/2]

void state_representation::JointState::set_acceleration	(	double	acceleration,
		const std::string &	joint_name
	)

Set the acceleration of a joint by its name.

Parameters

acceleration	The acceleration of the joint
joint_name	The name of the joint @raises JointNotFoundException if the desired joint doesn't exist

Definition at line 324 of file JointState.cpp.

◆ set_acceleration() [2/2]

void state_representation::JointState::set_acceleration	(	double	acceleration,
		unsigned int	joint_index
	)

Set the acceleration of a joint by its index.

Parameters

acceleration	The acceleration of the joint
joint_index	The index of the joint @raises JointNotFoundException if the desired joint doesn't exist

Definition at line 328 of file JointState.cpp.

◆ set_accelerations() [1/2]

void state_representation::JointState::set_accelerations ( const Eigen::VectorXd & accelerations )

Setter of the accelerations attribute.

Parameters

accelerations The joint accelerations as Eigen vector

Definition at line 316 of file JointState.cpp.

◆ set_accelerations() [2/2]

void state_representation::JointState::set_accelerations ( const std::vector< double > & accelerations )

Setter of the accelerations from std vector.

Parameters

accelerations The joint accelerations as std vector

Definition at line 320 of file JointState.cpp.

◆ set_data() [1/2]

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

overridevirtual

Set the data of the state from all the state variables in a single Eigen vector.

Parameters

The	concatenated data vector

Reimplemented from state_representation::State.

Reimplemented in state_representation::JointAccelerations, state_representation::JointPositions, state_representation::JointTorques, and state_representation::JointVelocities.

Definition at line 348 of file JointState.cpp.

◆ set_data() [2/2]

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

overridevirtual

Set the data of the state from all the state variables in a single std vector.

Parameters

The	concatenated data vector

Reimplemented from state_representation::State.

Reimplemented in state_representation::JointAccelerations, state_representation::JointPositions, state_representation::JointTorques, and state_representation::JointVelocities.

Definition at line 352 of file JointState.cpp.

◆ set_names() [1/2]

void state_representation::JointState::set_names ( const std::vector< std::string > & names )

Setter of the names attribute.

Parameters

names The vector of strings containing the joint names

Definition at line 274 of file JointState.cpp.

◆ set_names() [2/2]

void state_representation::JointState::set_names ( unsigned int nb_joints )

Setter of the names attribute from the number of joints.

Parameters

nb_joints The number of joints of the joint state

Definition at line 262 of file JointState.cpp.

◆ set_position() [1/2]

void state_representation::JointState::set_position	(	double	position,
		const std::string &	joint_name
	)

Set the position of a joint by its name.

Parameters

position	The position of the joint
joint_name	The name of the joint @raises JointNotFoundException if the desired joint doesn't exist

Definition at line 292 of file JointState.cpp.

◆ set_position() [2/2]

void state_representation::JointState::set_position	(	double	position,
		unsigned int	joint_index
	)

Set the position of a joint by its index.

Parameters

position	The position of the joint
joint_index	The index of the joint @raises JointNotFoundException if the desired joint doesn't exist

Definition at line 296 of file JointState.cpp.

◆ set_positions() [1/2]

void state_representation::JointState::set_positions ( const Eigen::VectorXd & positions )

Setter of the positions attribute.

Parameters

positions The joint positions as Eigen vector

Definition at line 284 of file JointState.cpp.

◆ set_positions() [2/2]

void state_representation::JointState::set_positions ( const std::vector< double > & positions )

Setter of the positions from std vector.

Parameters

positions The joint positions as std vector

Definition at line 288 of file JointState.cpp.

◆ set_state_variable() [1/3]

void state_representation::JointState::set_state_variable	(	const Eigen::VectorXd &	new_value,
		const JointStateVariable &	state_variable_type
	)

protected

Setter of the variable value corresponding to the input.

Parameters

new_value	The new value of the variable as Eigen vector
state_variable_type	The type of variable to set

Definition at line 204 of file JointState.cpp.

◆ set_state_variable() [2/3]

void state_representation::JointState::set_state_variable	(	const std::vector< double > &	new_value,
		const JointStateVariable &	state_variable_type
	)

protected

Setter of the variable value corresponding to the input.

Parameters

new_value	The new value of the variable as std vector
state_variable_type	The type of variable to set

Definition at line 198 of file JointState.cpp.

◆ set_state_variable() [3/3]

void state_representation::JointState::set_state_variable	(	double	new_value,
		unsigned int	joint_index,
		const JointStateVariable &	state_variable_type
	)

protected

Setter of the variable value corresponding to the input.

Parameters

new_value	The new value of the variable as Eigen vector
joint_index	The index at which to set the new value
state_variable_type	The type of variable to set @raises JointNotFoundException if the desired joint doesn't exist

Definition at line 236 of file JointState.cpp.

◆ set_torque() [1/2]

void state_representation::JointState::set_torque	(	double	torque,
		const std::string &	joint_name
	)

Set the torque of a joint by its name.

Parameters

torque	The torque of the joint
joint_name	The name of the joint @raises JointNotFoundException if the desired joint doesn't exist

Definition at line 340 of file JointState.cpp.

◆ set_torque() [2/2]

void state_representation::JointState::set_torque	(	double	torque,
		unsigned int	joint_index
	)

Set the torque of a joint by its index.

Parameters

torque	The torque of the joint
joint_index	The index of the joint @raises JointNotFoundException if the desired joint doesn't exist

Definition at line 344 of file JointState.cpp.

◆ set_torques() [1/2]

void state_representation::JointState::set_torques ( const Eigen::VectorXd & torques )

Setter of the torques attribute.

Parameters

torques The joint torques as Eigen vector

Definition at line 332 of file JointState.cpp.

◆ set_torques() [2/2]

void state_representation::JointState::set_torques ( const std::vector< double > & torques )

Setter of the torques attributes.

Parameters

torques The joint torques as std vector

Definition at line 336 of file JointState.cpp.

◆ set_velocities() [1/2]

void state_representation::JointState::set_velocities ( const Eigen::VectorXd & velocities )

Setter of the velocities attribute.

Parameters

velocities The joint velocities as Eigen vector

Definition at line 300 of file JointState.cpp.

◆ set_velocities() [2/2]

void state_representation::JointState::set_velocities ( const std::vector< double > & velocities )

Setter of the velocities from std vector.

Parameters

velocities The joint velocities as std vector

Definition at line 304 of file JointState.cpp.

◆ set_velocity() [1/2]

void state_representation::JointState::set_velocity	(	double	velocity,
		const std::string &	joint_name
	)

Set the velocity of a joint by its name.

Parameters

velocity	The velocity of the joint
joint_name	The name of the joint @raises JointNotFoundException if the desired joint doesn't exist

Definition at line 308 of file JointState.cpp.

◆ set_velocity() [2/2]

void state_representation::JointState::set_velocity	(	double	velocity,
		unsigned int	joint_index
	)

Set the velocity of a joint by its index.

Parameters

velocity	The velocity of the joint
joint_index	The index of the joint @raises JointNotFoundException if the desired joint doesn't exist

Definition at line 312 of file JointState.cpp.

◆ set_zero()

void state_representation::JointState::set_zero ( )

Set the joint state to a zero value.

Definition at line 450 of file JointState.cpp.

◆ to_std_vector()

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

Return the joint state as a std vector.

Returns: The joint data as a std vector

Definition at line 460 of file JointState.cpp.

◆ to_string()

std::string state_representation::JointState::to_string ( ) const

overrideprotectedvirtual

Convert the state to its string representation.

Reimplemented from state_representation::State.

Definition at line 547 of file JointState.cpp.

◆ Zero() [1/2]

JointState state_representation::JointState::Zero	(	const std::string &	robot_name,
		const std::vector< std::string > &	joint_names
	)

static

Constructor for a zero joint state.

Parameters

robot_name	The name of the associated robot
joint_names	List of joint names

Returns: Joint state with zero values in all attributes

Definition at line 66 of file JointState.cpp.

◆ Zero() [2/2]

JointState state_representation::JointState::Zero	(	const std::string &	robot_name,
		unsigned int	nb_joints
	)

static

Constructor for a zero joint state.

Parameters

robot_name	The name of the associated robot
nb_joints	The number of joints for initialization

Returns: Joint state with zero values in all attributes

Definition at line 59 of file JointState.cpp.

Friends And Related Symbol Documentation

◆ dist

double dist	(	const JointState &	s1,
		const JointState &	s2,
		const JointStateVariable &	state_variable_type = `JointStateVariable::ALL`
	)

friend

Compute the distance between two joint states.

Parameters

s1	The first joint state
s2	The second joint state
state_variable_type	Name of the field from the JointStateVariable structure to apply the distance on (default ALL for full distance across all dimensions)

Returns: The distance between the two states

Definition at line 423 of file JointState.cpp.

◆ operator* [1/2]

JointState operator*	(	const Eigen::MatrixXd &	lambda,
		const JointState &	state
	)

friend

Scale a joint state by a matrix.

Parameters

lambda	The scaling matrix
state	The joint state to be scaled

Returns: The scaled joint state

Definition at line 494 of file JointState.cpp.

◆ operator* [2/2]

JointState operator*	(	double	lambda,
		const JointState &	state
	)

friend

Scale a joint state by a scalar.

All joints in all the state variables are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled joint state

Parameters

lambda	The scaling factor
state	The joint state to be scaled

Returns: The scaled joint state

Definition at line 488 of file JointState.cpp.

◆ operator<<

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

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 579 of file JointState.cpp.

◆ swap

void swap	(	JointState &	state1,
		JointState &	state2
	)

friend

Swap the values of the two joint states.

Parameters

state1	Joint state to be swapped with 2
state2	Joint state to be swapped with 1

Definition at line 575 of file JointState.hpp.

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

/github/workspace/source/state_representation/include/state_representation/space/joint/JointState.hpp
/github/workspace/source/state_representation/src/space/joint/JointState.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ JointState() [1/4]

◆ JointState() [2/4]

◆ JointState() [3/4]

◆ JointState() [4/4]

Member Function Documentation

◆ array()

◆ clamp_state_variable() [1/2]

◆ clamp_state_variable() [2/2]

◆ copy()

◆ data()

◆ dist()

◆ get_acceleration() [1/2]

◆ get_acceleration() [2/2]

◆ get_accelerations()

◆ get_joint_index()

◆ get_names()

◆ get_position() [1/2]

◆ get_position() [2/2]

◆ get_positions()

◆ get_size()

◆ get_state_variable()

◆ get_torque() [1/2]

◆ get_torque() [2/2]

◆ get_torques()

◆ get_velocities()

◆ get_velocity() [1/2]

◆ get_velocity() [2/2]

◆ is_incompatible()

◆ multiply_state_variable()

◆ operator*()

◆ operator*=()

◆ operator+()

◆ operator+=()

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator-=()

◆ operator/()

◆ operator/=()

◆ operator=()

◆ Random() [1/2]

◆ Random() [2/2]

◆ reset()

◆ set_acceleration() [1/2]

◆ set_acceleration() [2/2]

◆ set_accelerations() [1/2]

◆ set_accelerations() [2/2]

◆ set_data() [1/2]

◆ set_data() [2/2]

◆ set_names() [1/2]

◆ set_names() [2/2]

◆ set_position() [1/2]

◆ set_position() [2/2]

◆ set_positions() [1/2]

◆ set_positions() [2/2]

◆ set_state_variable() [1/3]

◆ set_state_variable() [2/3]

◆ set_state_variable() [3/3]

◆ set_torque() [1/2]

◆ set_torque() [2/2]

◆ set_torques() [1/2]

◆ set_torques() [2/2]

◆ set_velocities() [1/2]

◆ set_velocities() [2/2]

◆ set_velocity() [1/2]

◆ set_velocity() [2/2]

◆ set_zero()

◆ to_std_vector()

◆ to_string()

◆ Zero() [1/2]

◆ Zero() [2/2]

Friends And Related Symbol Documentation

◆ dist

◆ operator* [1/2]

◆ operator* [2/2]