state_representation::Shape Class Reference

Inheritance diagram for state_representation::Shape:

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

Protected Member Functions
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 (Shape &state1, Shape &state2)
	Swap the values of the two Shapes.
std::ostream &	operator<< (std::ostream &os, const Shape &shape)
	Overload the ostream operator for printing.

Detailed Description

Definition at line 12 of file Shape.hpp.

Constructor & Destructor Documentation

Shape() [1/3]

state_representation::Shape::Shape

(

)

Empty constructor.

Definition at line 8 of file Shape.cpp.

Shape() [2/3]

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

explicit

Constructor with name and reference frame.

Parameters

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

Definition at line 12 of file Shape.cpp.

Shape() [3/3]

state_representation::Shape::Shape

(

const Shape &

shape

)

Copy constructor from another Shape.

Parameters

shape

The Shape to copy from

Definition at line 17 of file Shape.cpp.

Member Function Documentation

get_center_orientation()

const Eigen::Quaterniond state_representation::Shape::get_center_orientation

(

)

const

Getter of the orientation from the state.

Returns

The orientation of the Shape

Definition at line 50 of file Shape.cpp.

get_center_pose()

const CartesianPose & state_representation::Shape::get_center_pose

(

)

const

Getter of the pose from the state.

Returns

The pose of the Shape

Definition at line 40 of file Shape.cpp.

get_center_position()

const Eigen::Vector3d state_representation::Shape::get_center_position

(

)

const

Getter of the position from the state.

Returns

The position of the Shape

Definition at line 45 of file Shape.cpp.

get_center_state()

const CartesianState & state_representation::Shape::get_center_state

(

)

const

Getter of the state.

Returns

The state of the Shape

Definition at line 35 of file Shape.cpp.

get_center_twist()

const CartesianTwist & state_representation::Shape::get_center_twist

(

)

const

Getter of the twist from the state.

Returns

The twist of the Shape

Definition at line 55 of file Shape.cpp.

operator=()

Shape & state_representation::Shape::operator=

(

const Shape &

state

)

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

Parameters

state

The Shape with value to assign

Returns

Reference to the current Shape with new values

Definition at line 29 of file Shape.cpp.

set_center_orientation()

void state_representation::Shape::set_center_orientation

(

const Eigen::Quaterniond &

orientation

)

Setter of the pose.

Parameters

pose	The new pose

Definition at line 82 of file Shape.cpp.

set_center_pose()

void state_representation::Shape::set_center_pose

(

const CartesianPose &

pose

)

Setter of the pose.

Parameters

pose	The new pose

Definition at line 68 of file Shape.cpp.

set_center_position()

void state_representation::Shape::set_center_position

(

const Eigen::Vector3d &

position

)

Setter of the position.

Parameters

position

The new position

Definition at line 77 of file Shape.cpp.

set_center_state()

void state_representation::Shape::set_center_state

(

const CartesianState &

state

)

Setter of the state.

Parameters

state

The new state

Definition at line 60 of file Shape.cpp.

to_string()

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

overrideprotectedvirtual

Convert the state to its string representation.

Reimplemented from state_representation::State.

Definition at line 87 of file Shape.cpp.

Unit()

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

static

Constructor for a Shape with identity state.

Parameters

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

Definition at line 23 of file Shape.cpp.

Friends And Related Symbol Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, const Shape &  shape  )

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 98 of file Shape.cpp.

swap

void swap ( Shape &  state1, Shape &  state2  )

friend

Swap the values of the two Shapes.

Parameters

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

Definition at line 125 of file Shape.hpp.

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

• /github/workspace/source/state_representation/include/state_representation/geometry/Shape.hpp
• /github/workspace/source/state_representation/src/geometry/Shape.cpp