Abstract class to represent a state. More...

#include <State.hpp>

Inheritance diagram for state_representation::State:

Public Member Functions
	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.

Protected Member Functions
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.

virtual std::string	to_string () const
	Convert the state to its string representation.

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

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

Detailed Description

Abstract class to represent a state.

Definition at line 25 of file State.hpp.

Constructor & Destructor Documentation

◆ State() [1/3]

state_representation::State::State ( )

Empty constructor.

Definition at line 7 of file State.cpp.

◆ State() [2/3]

state_representation::State::State ( const std::string & name )

explicit

Constructor with name specification.

Parameters

name	The name of the state

Definition at line 9 of file State.cpp.

◆ State() [3/3]

state_representation::State::State ( const State & state )

Copy constructor from another state.

Definition at line 12 of file State.cpp.

Member Function Documentation

◆ assert_not_empty()

void state_representation::State::assert_not_empty ( ) const

protected

Throw an exception if the state is empty.

Exceptions

exceptions::EmptyStateException

Definition at line 55 of file State.cpp.

◆ get_age()

double state_representation::State::get_age ( ) const

Get the age of the state, i.e. the time since the last modification.

Definition at line 81 of file State.cpp.

◆ get_name()

const std::string & state_representation::State::get_name ( ) const

Getter of the name attribute.

Definition at line 29 of file State.cpp.

◆ get_timestamp()

const std::chrono::time_point< std::chrono::steady_clock > & state_representation::State::get_timestamp ( ) const

Getter of the timestamp attribute.

Definition at line 37 of file State.cpp.

◆ get_type()

const StateType & state_representation::State::get_type ( ) const

Getter of the type attribute.

Definition at line 25 of file State.cpp.

◆ is_deprecated() [1/2]

template<typename DurationT >

bool state_representation::State::is_deprecated ( const std::chrono::duration< int64_t, DurationT > & time_delay ) const

inline

Check if the state is deprecated given a certain time delay.

Parameters

time_delay The time after which to consider the state as deprecated

Definition at line 188 of file State.hpp.

◆ is_deprecated() [2/2]

bool state_representation::State::is_deprecated ( double time_delay ) const

Check if the state is deprecated given a certain time delay.

Parameters

time_delay The time after which to consider the state as deprecated

Definition at line 87 of file State.cpp.

◆ is_empty()

bool state_representation::State::is_empty ( ) const

Getter of the empty attribute.

Definition at line 33 of file State.cpp.

◆ is_incompatible()

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

virtual

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

Parameters

state The state to check compatibility with

Reimplemented in state_representation::IOState< T >, state_representation::IOState< bool >, state_representation::IOState< double >, state_representation::Jacobian, state_representation::JointState, and state_representation::SpatialState.

Definition at line 91 of file State.cpp.

◆ operator bool()

state_representation::State::operator bool ( ) const

explicitnoexcept

Boolean operator for the truthiness of a state.

Returns: False if the state is empty, true otherwise

Definition at line 95 of file State.cpp.

◆ operator=()

State & state_representation::State::operator= ( const State & 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 19 of file State.cpp.

◆ reset()

void state_representation::State::reset ( )

virtual

Reset the object to a post-construction state.

Reimplemented in py_parameter::ParameterContainer, state_representation::Trajectory< StateT >, state_representation::AnalogIOState, state_representation::DigitalIOState, state_representation::Parameter< T >, state_representation::Parameter< bool >, state_representation::CartesianState, state_representation::Jacobian, and state_representation::JointState.

Definition at line 77 of file State.cpp.

◆ reset_timestamp()

void state_representation::State::reset_timestamp ( )

Reset the timestamp attribute to now.

Definition at line 61 of file State.cpp.

◆ set_data() [1/3]

void state_representation::State::set_data ( const Eigen::MatrixXd & data )

virtual

Set the data of the state from an Eigen matrix.

Reimplemented in state_representation::Jacobian.

Definition at line 73 of file State.cpp.

◆ set_data() [2/3]

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

virtual

Set the data of the state from an Eigen vector.

Reimplemented in state_representation::Ellipsoid, state_representation::CartesianAcceleration, state_representation::CartesianPose, state_representation::CartesianState, state_representation::CartesianTwist, state_representation::CartesianWrench, state_representation::JointAccelerations, state_representation::JointPositions, state_representation::JointState, state_representation::JointTorques, and state_representation::JointVelocities.

Definition at line 65 of file State.cpp.

◆ set_data() [3/3]

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

virtual

Set the data of the state from a std vector.

Definition at line 69 of file State.cpp.

◆ set_empty()

void state_representation::State::set_empty ( bool empty = true )

protected

Setter of the empty attribute.

Calling this function will also reset the timestamp

Parameters

empty Flag to specify if the state should be empty or not, default true

Definition at line 50 of file State.cpp.

◆ set_name()

void state_representation::State::set_name ( const std::string & name )

virtual

Setter of the name attribute.

Definition at line 45 of file State.cpp.

◆ set_type()

void state_representation::State::set_type ( const StateType & type )

protected

Setter of the state type attribute.

Definition at line 41 of file State.cpp.

◆ to_string()

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

protectedvirtual

Convert the state to its string representation.

Reimplemented in state_representation::AnalogIOState, state_representation::DigitalIOState, state_representation::Shape, state_representation::CartesianState, state_representation::JointState, and state_representation::SpatialState.

Definition at line 99 of file State.cpp.

Friends And Related Symbol Documentation

◆ operator<<

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

friend

Overload the ostream operator for printing.

Parameters

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

Returns: The appended ostream

Definition at line 104 of file State.cpp.

◆ swap

void swap	(	State &	state1,
		State &	state2
	)

friend

Swap the values of the two states.

Parameters

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

Definition at line 181 of file State.hpp.

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

/github/workspace/source/state_representation/include/state_representation/State.hpp
/github/workspace/source/state_representation/src/State.cpp

Public Member Functions

Protected Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ State() [1/3]

◆ State() [2/3]

◆ State() [3/3]

Member Function Documentation

◆ assert_not_empty()

◆ get_age()

◆ get_name()

◆ get_timestamp()

◆ get_type()

◆ is_deprecated() [1/2]

◆ is_deprecated() [2/2]

◆ is_empty()

◆ is_incompatible()

◆ operator bool()

◆ operator=()

◆ reset()

◆ reset_timestamp()

◆ set_data() [1/3]

◆ set_data() [2/3]

◆ set_data() [3/3]

◆ set_empty()

◆ set_name()

◆ set_type()

◆ to_string()

Friends And Related Symbol Documentation

◆ operator<<

◆ swap