Inheritance diagram for state_representation::Trajectory< StateT >:

Public Member Functions
	Trajectory ()
	Empty constructor.

	Trajectory (const std::string &name)
	Constructor with name and reference frame provided.

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.

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

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

void	set_joint_names (const std::vector< std::string > &joint_names)
	Setter of the names attribute from the joints names.

void	reset ()
	Initialize trajectory.

template<typename DurationT >
void	add_point (const StateT &new_point, const std::chrono::duration< int64_t, DurationT > &new_time)
	Add new point and corresponding time to trajectory.

template<typename DurationT >
void	insert_point (const StateT &new_point, const std::chrono::duration< int64_t, DurationT > &new_time, int pos)
	Insert new point and corresponding time to trajectory between two already existing points.

void	delete_point ()
	Delete last point and corresponding time from trajectory.

void	clear ()
	Clear trajectory.

const std::deque< StateT > &	get_points () const
	Get attribute list of trajectory points.

const StateT &	get_point (unsigned int index) const
	Get the trajectory point at given index.

StateT &	get_point (unsigned int index)
	Get the trajectory point at given index.

const std::deque< std::chrono::nanoseconds > &	get_times () const
	Get attribute list of trajectory times.

int	get_size () const
	Get attribute number of point in trajectory.

const std::pair< StateT, std::chrono::nanoseconds >	operator[] (unsigned int idx) const
	Operator overload for returning a single trajectory point and corresponding time.

std::pair< StateT, std::chrono::nanoseconds >	operator[] (unsigned int idx)
	Operator overload for returning a single trajectory point and corresponding time.

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.

	operator bool () const noexcept
	Boolean operator for the truthiness of a state.

Additional Inherited Members
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.

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

Detailed Description

template<class StateT>
class state_representation::Trajectory< StateT >

Definition at line 9 of file Trajectory.hpp.

Constructor & Destructor Documentation

◆ Trajectory() [1/2]

template<class StateT >

state_representation::Trajectory< StateT >::Trajectory ( )

explicit

Empty constructor.

Definition at line 120 of file Trajectory.hpp.

◆ Trajectory() [2/2]

template<class StateT >

state_representation::Trajectory< StateT >::Trajectory ( const std::string & name )

explicit

Constructor with name and reference frame provided.

name the name of the state

Definition at line 127 of file Trajectory.hpp.

Member Function Documentation

◆ add_point()

template<class StateT >

template<typename DurationT >

void state_representation::Trajectory< StateT >::add_point	(	const StateT &	new_point,
		const std::chrono::duration< int64_t, DurationT > &	new_time
	)

Add new point and corresponding time to trajectory.

Definition at line 171 of file Trajectory.hpp.

◆ clear()

template<class StateT >

void state_representation::Trajectory< StateT >::clear ( )

Clear trajectory.

Definition at line 217 of file Trajectory.hpp.

◆ delete_point()

template<class StateT >

void state_representation::Trajectory< StateT >::delete_point ( )

Delete last point and corresponding time from trajectory.

Definition at line 206 of file Trajectory.hpp.

◆ get_joint_names()

template<class StateT >

const std::vector< std::string > & state_representation::Trajectory< StateT >::get_joint_names ( ) const

inline

Getter of the names attribute.

Definition at line 145 of file Trajectory.hpp.

◆ get_point() [1/2]

template<class StateT >

StateT & state_representation::Trajectory< StateT >::get_point ( unsigned int index )

Get the trajectory point at given index.

Parameters

index the index

Definition at line 233 of file Trajectory.hpp.

◆ get_point() [2/2]

template<class StateT >

const StateT & state_representation::Trajectory< StateT >::get_point ( unsigned int index ) const

Get the trajectory point at given index.

Parameters

index the index

Definition at line 228 of file Trajectory.hpp.

◆ get_points()

template<class StateT >

const std::deque< StateT > & state_representation::Trajectory< StateT >::get_points ( ) const

inline

Get attribute list of trajectory points.

Definition at line 223 of file Trajectory.hpp.

◆ get_reference_frame()

template<class StateT >

const std::string state_representation::Trajectory< StateT >::get_reference_frame ( ) const

inline

Getter of the reference frame as const reference.

Definition at line 135 of file Trajectory.hpp.

◆ get_size()

template<class StateT >

int state_representation::Trajectory< StateT >::get_size ( ) const

Get attribute number of point in trajectory.

Definition at line 243 of file Trajectory.hpp.

◆ get_times()

template<class StateT >

const std::deque< std::chrono::nanoseconds > & state_representation::Trajectory< StateT >::get_times ( ) const

inline

Get attribute list of trajectory times.

Definition at line 238 of file Trajectory.hpp.

◆ insert_point()

template<class StateT >

template<typename DurationT >

void state_representation::Trajectory< StateT >::insert_point	(	const StateT &	new_point,
		const std::chrono::duration< int64_t, DurationT > &	new_time,
		int	pos
	)

Insert new point and corresponding time to trajectory between two already existing points.

Definition at line 185 of file Trajectory.hpp.

◆ operator[]() [1/2]

template<class StateT >

std::pair< StateT, std::chrono::nanoseconds > state_representation::Trajectory< StateT >::operator[] ( unsigned int idx )

Operator overload for returning a single trajectory point and corresponding time.

Definition at line 253 of file Trajectory.hpp.

◆ operator[]() [2/2]

template<class StateT >

const std::pair< StateT, std::chrono::nanoseconds > state_representation::Trajectory< StateT >::operator[] ( unsigned int idx ) const

Operator overload for returning a single trajectory point and corresponding time.

Definition at line 248 of file Trajectory.hpp.

◆ reset()

template<class StateT >

void state_representation::Trajectory< StateT >::reset ( )

virtual

Initialize trajectory.

Reimplemented from state_representation::State.

Definition at line 163 of file Trajectory.hpp.

◆ set_joint_names() [1/2]

template<class StateT >

void state_representation::Trajectory< StateT >::set_joint_names ( const std::vector< std::string > & joint_names )

inline

Setter of the names attribute from the joints names.

Definition at line 158 of file Trajectory.hpp.

◆ set_joint_names() [2/2]

template<class StateT >

void state_representation::Trajectory< StateT >::set_joint_names ( unsigned int nb_joints )

inline

Setter of the names attribute from the number of joints.

Definition at line 150 of file Trajectory.hpp.

◆ set_reference_frame()

template<class StateT >

void state_representation::Trajectory< StateT >::set_reference_frame ( const std::string & reference_frame )

inlinevirtual

Setter of the reference frame.

Definition at line 140 of file Trajectory.hpp.

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

/github/workspace/source/state_representation/include/state_representation/trajectories/Trajectory.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Trajectory() [1/2]

◆ Trajectory() [2/2]

Member Function Documentation

◆ add_point()

◆ clear()

◆ delete_point()

◆ get_joint_names()

◆ get_point() [1/2]

◆ get_point() [2/2]

◆ get_points()

◆ get_reference_frame()

◆ get_size()

◆ get_times()

◆ insert_point()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ reset()

◆ set_joint_names() [1/2]

◆ set_joint_names() [2/2]

◆ set_reference_frame()