Core state variables and objects. More...

Classes
class	AnalogIOState

class	CartesianAcceleration
	Class to define acceleration in Cartesian space as 3D linear and angular acceleration vectors. More...

class	CartesianPose
	Class to define Cartesian pose in Cartesian space as 3D position and quaternion based orientation. More...

class	CartesianState
	Class to represent a state in Cartesian space. More...

class	CartesianTwist
	Class to define twist in Cartesian space as 3D linear and angular velocity vectors. More...

class	CartesianWrench
	Class to define wrench in Cartesian space as 3D force and torque vectors. More...

class	DigitalIOState

class	DualQuaternionPose
	Class to represent a Pose in Dual Quaternion space. More...

class	DualQuaternionState
	Class to represent a state in Dual Quaternion space. More...

class	DualQuaternionTwist
	Class to represent a Twist in Dual Quaternion space. More...

class	Ellipsoid

class	Event
	An event is a predicate with memory. Its purpose is to be true only once and change value only when the underlying predicate has changed from true to false and back to true since last reading. More...

class	IOState

class	Jacobian
	Class to define a robot Jacobian matrix. More...

class	JointAccelerations
	Class to define accelerations of the joints. More...

class	JointPositions
	Class to define positions of the joints. More...

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

class	JointTorques
	Class to define torques of the joints. More...

class	JointVelocities
	Class to define velocities of the joints. More...

class	Parameter
	Class to represent name-value pairs of different types. More...

class	ParameterInterface

class	ParameterMap
	A wrapper class to contain a map of Parameter pointers by name and provide robust access methods. More...

class	Predicate
	A predicate is a boolean parameter as in the logic formalism. More...

class	Shape

class	SpatialState

class	State
	Abstract class to represent a state. More...

class	Trajectory

Typedefs
typedef std::list< std::shared_ptr< ParameterInterface > >	ParameterInterfaceList

typedef std::map< std::string, std::shared_ptr< ParameterInterface > >	ParameterInterfaceMap

Enumerations
enum class	ParameterType { BOOL , BOOL_ARRAY , INT , INT_ARRAY , DOUBLE , DOUBLE_ARRAY , STRING , STRING_ARRAY , STATE , VECTOR , MATRIX }
	The parameter value types. More...

enum class	CartesianStateVariable { POSITION , ORIENTATION , POSE , LINEAR_VELOCITY , ANGULAR_VELOCITY , TWIST , LINEAR_ACCELERATION , ANGULAR_ACCELERATION , ACCELERATION , FORCE , TORQUE , WRENCH , ALL }

enum class	JointStateVariable { POSITIONS , VELOCITIES , ACCELERATIONS , TORQUES , ALL }
	Enum representing all the fields (positions, velocities, accelerations and torques) of the JointState. More...

enum class	StateType { NONE , STATE , SPATIAL_STATE , CARTESIAN_STATE , CARTESIAN_POSE , CARTESIAN_TWIST , CARTESIAN_ACCELERATION , CARTESIAN_WRENCH , JOINT_STATE , JOINT_POSITIONS , JOINT_VELOCITIES , JOINT_ACCELERATIONS , JOINT_TORQUES , JACOBIAN , PARAMETER , GEOMETRY_SHAPE , GEOMETRY_ELLIPSOID , TRAJECTORY , DIGITAL_IO_STATE , ANALOG_IO_STATE }
	The class types inheriting from State. More...

Functions
void	swap (AnalogIOState &state1, AnalogIOState &state2)

void	swap (DigitalIOState &state1, DigitalIOState &state2)

void	swap (Ellipsoid &state1, Ellipsoid &state2)

void	swap (Shape &state1, Shape &state2)

double	dist (const CartesianState &s1, const CartesianState &s2, const CartesianStateVariable &state_variable_type=CartesianStateVariable::ALL)
	Compute the distance between two Cartesian states.

void	swap (CartesianState &state1, CartesianState &state2)

void	swap (Jacobian &jacobian1, Jacobian &jacobian2)

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

void	swap (JointState &state1, JointState &state2)

void	swap (SpatialState &state1, SpatialState &state2)

void	swap (State &state1, State &state2)

template<typename T >
std::shared_ptr< State >	make_shared_state (const T &state)

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

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

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

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

std::ostream &	operator<< (std::ostream &os, const Event &event)

template<typename T >
std::ostream &	operator<< (std::ostream &os, const Parameter< T > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< int > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< double > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< bool > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< std::string > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< CartesianState > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< CartesianPose > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< JointState > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< JointPositions > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< Ellipsoid > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< Eigen::MatrixXd > &parameter)

template std::ostream &	operator<< (std::ostream &os, const Parameter< Eigen::VectorXd > &parameter)

template<>
std::ostream &	operator<< (std::ostream &os, const Parameter< std::vector< int > > &parameter)

template<>
std::ostream &	operator<< (std::ostream &os, const Parameter< std::vector< double > > &parameter)

template<>
std::ostream &	operator<< (std::ostream &os, const Parameter< std::vector< bool > > &parameter)

template<>
std::ostream &	operator<< (std::ostream &os, const Parameter< std::vector< std::string > > &parameter)

std::ostream &	operator<< (std::ostream &os, const Predicate &predicate)

CartesianAcceleration	operator* (double lambda, const CartesianAcceleration &acceleration)

CartesianAcceleration	operator* (const Eigen::Matrix< double, 6, 6 > &lambda, const CartesianAcceleration &acceleration)

CartesianTwist	operator* (const std::chrono::nanoseconds &dt, const CartesianAcceleration &acceleration)

std::ostream &	operator<< (std::ostream &os, const CartesianAcceleration &acceleration)

CartesianPose	operator* (double lambda, const CartesianPose &pose)

std::ostream &	operator<< (std::ostream &os, const CartesianPose &pose)

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

std::ostream &	operator<< (std::ostream &os, const Eigen::Vector3d &field)

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

CartesianTwist	operator* (double lambda, const CartesianTwist &twist)

CartesianTwist	operator* (const Eigen::Matrix< double, 6, 6 > &lambda, const CartesianTwist &twist)

CartesianPose	operator* (const std::chrono::nanoseconds &dt, const CartesianTwist &twist)

std::ostream &	operator<< (std::ostream &os, const CartesianTwist &twist)

CartesianWrench	operator* (double lambda, const CartesianWrench &wrench)

CartesianWrench	operator* (const Eigen::Matrix< double, 6, 6 > &lambda, const CartesianWrench &wrench)

std::ostream &	operator<< (std::ostream &os, const CartesianWrench &wrench)

const DualQuaternionState	log (const DualQuaternionPose &state)

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

const DualQuaternionState	operator* (const float &lambda, const DualQuaternionState &state)

const DualQuaternionState	exp (const DualQuaternionState &state)

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

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

Jacobian	operator* (const Eigen::Matrix< double, 6, 6 > &matrix, const Jacobian &jacobian)

Jacobian	operator* (const CartesianPose &pose, const Jacobian &jacobian)

std::ostream &	operator<< (std::ostream &os, const Jacobian &jacobian)

JointAccelerations	operator* (double lambda, const JointAccelerations &accelerations)

JointAccelerations	operator* (const Eigen::MatrixXd &lambda, const JointAccelerations &accelerations)

JointVelocities	operator* (const std::chrono::nanoseconds &dt, const JointAccelerations &accelerations)

std::ostream &	operator<< (std::ostream &os, const JointAccelerations &accelerations)

JointPositions	operator* (double lambda, const JointPositions &positions)

JointPositions	operator* (const Eigen::MatrixXd &lambda, const JointPositions &positions)

std::ostream &	operator<< (std::ostream &os, const JointPositions &positions)

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

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

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

JointTorques	operator* (double lambda, const JointTorques &torques)

JointTorques	operator* (const Eigen::MatrixXd &lambda, const JointTorques &torques)

std::ostream &	operator<< (std::ostream &os, const JointTorques &torques)

JointVelocities	operator* (double lambda, const JointVelocities &velocities)

JointVelocities	operator* (const Eigen::MatrixXd &lambda, const JointVelocities &velocities)

JointPositions	operator* (const std::chrono::nanoseconds &dt, const JointVelocities &velocities)

std::ostream &	operator<< (std::ostream &os, const JointVelocities &velocities)

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

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

Detailed Description

Core state variables and objects.

Typedef Documentation

◆ ParameterInterfaceList

typedef std::list<std::shared_ptr<ParameterInterface> > state_representation::ParameterInterfaceList

Definition at line 12 of file ParameterMap.hpp.

◆ ParameterInterfaceMap

typedef std::map<std::string, std::shared_ptr<ParameterInterface> > state_representation::ParameterInterfaceMap

Definition at line 13 of file ParameterMap.hpp.

Enumeration Type Documentation

◆ CartesianStateVariable

enum class state_representation::CartesianStateVariable

strong

Definition at line 15 of file CartesianState.hpp.

◆ JointStateVariable

enum class state_representation::JointStateVariable

strong

Enum representing all the fields (positions, velocities, accelerations and torques) of the JointState.

Definition at line 15 of file JointState.hpp.

◆ ParameterType

enum class state_representation::ParameterType

strong

The parameter value types.

Definition at line 12 of file ParameterType.hpp.

◆ StateType

enum class state_representation::StateType

strong

The class types inheriting from State.

Definition at line 13 of file StateType.hpp.

Function Documentation

◆ dist() [1/2]

double state_representation::dist	(	const CartesianState &	s1,
		const CartesianState &	s2,
		const CartesianStateVariable &	state_variable_type = `CartesianStateVariable::ALL`
	)

Compute the distance between two Cartesian states.

Parameters

s1	The first Cartesian state
s2	The second Cartesian state
state_variable_type	Name of the state variable from the CartesianStateVariable enum to apply the distance on. Default ALL for full distance across all dimensions

Returns: The distance between the two states

Definition at line 515 of file CartesianState.cpp.

◆ dist() [2/2]

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

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.

◆ exp()

const DualQuaternionState state_representation::exp ( const DualQuaternionState & state )

Parameters

state the DualQuaternion to operate on

Returns: the exponential of the DualQuaternion provided

Definition at line 62 of file DualQuaternionState.cpp.

◆ log()

const DualQuaternionState state_representation::log ( const DualQuaternionPose & state )

Parameters

state the dual quaternion to calcualte the log on

Returns: the log of the dual quaternion

Definition at line 94 of file DualQuaternionPose.cpp.

◆ make_shared_state()

template<typename T >

std::shared_ptr< State > state_representation::make_shared_state ( const T & state )

Definition at line 193 of file State.hpp.

◆ operator*() [1/25]

Jacobian state_representation::operator*	(	const CartesianPose &	pose,
		const Jacobian &	jacobian
	)

This operation is equivalent to a change of reference frame of the Jacobian

Parameters

pose	The Cartesian pose to multiply with
jacobian	The Jacobian to be multiplied with the Cartesian pose

Returns: The Jacobian expressed in the new reference frame

Definition at line 291 of file Jacobian.cpp.

◆ operator*() [2/25]

CartesianAcceleration state_representation::operator*	(	const Eigen::Matrix< double, 6, 6 > &	lambda,
		const CartesianAcceleration &	acceleration
	)

Parameters

lambda	The scaling factors in all the dimensions
acceleration	The Cartesian acceleration to be scaled

Returns: The scaled Cartesian acceleration

Definition at line 127 of file CartesianAcceleration.cpp.

◆ operator*() [3/25]

CartesianTwist state_representation::operator*	(	const Eigen::Matrix< double, 6, 6 > &	lambda,
		const CartesianTwist &	twist
	)

Parameters

lambda	The scaling factors in all the dimensions
twist	The Cartesian twist to be scaled

Returns: The scaled Cartesian twist

Definition at line 129 of file CartesianTwist.cpp.

◆ operator*() [4/25]

CartesianWrench state_representation::operator*	(	const Eigen::Matrix< double, 6, 6 > &	lambda,
		const CartesianWrench &	wrench
	)

Parameters

lambda	The scaling factors in all the dimensions
wrench	The Cartesian wrench to be scaled

Returns: The scaled Cartesian wrench

Definition at line 116 of file CartesianWrench.cpp.

◆ operator*() [5/25]

Jacobian state_representation::operator*	(	const Eigen::Matrix< double, 6, 6 > &	matrix,
		const Jacobian &	jacobian
	)

Parameters

matrix	The matrix to multiply with
jacobian	The Jacobian

Returns: The Jacobian transformed by the matrix

Definition at line 277 of file Jacobian.cpp.

◆ operator*() [6/25]

JointAccelerations state_representation::operator*	(	const Eigen::MatrixXd &	lambda,
		const JointAccelerations &	accelerations
	)

Parameters

lambda	The scaling matrix
accelerations	The joint accelerations to be scaled

Returns: The scaled joint accelerations

Definition at line 121 of file JointAccelerations.cpp.

◆ operator*() [7/25]

JointPositions state_representation::operator*	(	const Eigen::MatrixXd &	lambda,
		const JointPositions &	positions
	)

Parameters

lambda	The scaling matrix
accelerations	The joint positions to be scaled

Returns: The scaled joint accelerations

Definition at line 120 of file JointPositions.cpp.

◆ operator*() [8/25]

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

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*() [9/25]

JointTorques state_representation::operator*	(	const Eigen::MatrixXd &	lambda,
		const JointTorques &	torques
	)

Parameters

lambda	The scaling matrix
torques	The joint torques to be scaled

Returns: The scaled joint torques

Definition at line 111 of file JointTorques.cpp.

◆ operator*() [10/25]

JointVelocities state_representation::operator*	(	const Eigen::MatrixXd &	lambda,
		const JointVelocities &	velocities
	)

Parameters

lambda	The scaling matrix
velocities	The joint velocities to be scaled

Returns: The scaled joint velocities

Definition at line 122 of file JointVelocities.cpp.

◆ operator*() [11/25]

const DualQuaternionState state_representation::operator*	(	const float &	lambda,
		const DualQuaternionState &	state
	)

Parameters

lambda the scalar to multiply with

Returns: the DualQuaternionState provided multiply by lambda

Definition at line 55 of file DualQuaternionState.cpp.

◆ operator*() [12/25]

CartesianTwist state_representation::operator*	(	const std::chrono::nanoseconds &	dt,
		const CartesianAcceleration &	acceleration
	)

Parameters

dt	The time period used for integration
acceleration	The Cartesian acceleration to be integrated

Returns: The resulting Cartesian twist after integration

Definition at line 145 of file CartesianAcceleration.cpp.

◆ operator*() [13/25]

CartesianPose state_representation::operator*	(	const std::chrono::nanoseconds &	dt,
		const CartesianTwist &	twist
	)

Parameters

dt	The time period used for integration
twist	The Cartesian twist to be integrated

Returns: The resulting Cartesian pose after integration

Definition at line 154 of file CartesianTwist.cpp.

◆ operator*() [14/25]

JointVelocities state_representation::operator*	(	const std::chrono::nanoseconds &	dt,
		const JointAccelerations &	accelerations
	)

Parameters

dt	The time period used for integration
accelerations	The joint accelerations to be integrated

Returns: The resulting joint velocities after integration

Definition at line 138 of file JointAccelerations.cpp.

◆ operator*() [15/25]

JointPositions state_representation::operator*	(	const std::chrono::nanoseconds &	dt,
		const JointVelocities &	velocities
	)

Parameters

dt	The time period used for integration
velocities	The joint velocities to be integrated

Returns: The resulting joint positions after integration

Definition at line 139 of file JointVelocities.cpp.

◆ operator*() [16/25]

CartesianAcceleration state_representation::operator*	(	double	lambda,
		const CartesianAcceleration &	acceleration
	)

: All state variables in all their dimensions are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled Cartesian state

Parameters

lambda	The scaling factor
acceleration	The Cartesian acceleration to be scaled

Returns: The scaled Cartesian acceleration

Definition at line 123 of file CartesianAcceleration.cpp.

◆ operator*() [17/25]

CartesianPose state_representation::operator*	(	double	lambda,
		const CartesianPose &	pose
	)

: All state variables in all their dimensions are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled Cartesian state

Parameters

lambda	The scaling factor
pose	The Cartesian pose to be scaled

Returns: The scaled Cartesian pose

Definition at line 138 of file CartesianPose.cpp.

◆ operator*() [18/25]

CartesianState state_representation::operator*	(	double	lambda,
		const CartesianState &	state
	)

: All state variables in all their dimensions are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled Cartesian state

Parameters

lambda	The scaling factor
state	The Cartesian state to be scaled

Returns: The scaled Cartesian state

Definition at line 722 of file CartesianState.cpp.

◆ operator*() [19/25]

CartesianTwist state_representation::operator*	(	double	lambda,
		const CartesianTwist &	twist
	)

: All state variables in all their dimensions are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled Cartesian state

Parameters

lambda	The scaling factor
twist	The Cartesian twist to be scaled

Returns: The scaled Cartesian twist

Definition at line 125 of file CartesianTwist.cpp.

◆ operator*() [20/25]

CartesianWrench state_representation::operator*	(	double	lambda,
		const CartesianWrench &	wrench
	)

: All state variables in all their dimensions are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled Cartesian state

Parameters

lambda	The scaling factor
wrench	The Cartesian wrench to be scaled

Returns: The scaled Cartesian wrench

Definition at line 108 of file CartesianWrench.cpp.

◆ operator*() [21/25]

JointAccelerations state_representation::operator*	(	double	lambda,
		const JointAccelerations &	accelerations
	)

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
accelerations	The joint accelerations to be scaled

Returns: The scaled joint accelerations

Definition at line 115 of file JointAccelerations.cpp.

◆ operator*() [22/25]

JointPositions state_representation::operator*	(	double	lambda,
		const JointPositions &	positions
	)

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
positions	The joint positions to be scaled

Returns: The scaled joint positions

Definition at line 114 of file JointPositions.cpp.

◆ operator*() [23/25]

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

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*() [24/25]

JointTorques state_representation::operator*	(	double	lambda,
		const JointTorques &	torques
	)

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
torques	The joint torques to be scaled

Returns: The scaled joint torques

Definition at line 105 of file JointTorques.cpp.

◆ operator*() [25/25]

JointVelocities state_representation::operator*	(	double	lambda,
		const JointVelocities &	velocities
	)

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
velocities	The joint velocities to be scaled

Returns: The scaled joint velocities

Definition at line 116 of file JointVelocities.cpp.

◆ operator<<() [1/28]

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

Parameters

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

Returns: The appended ostream

Definition at line 95 of file AnalogIOState.cpp.

◆ operator<<() [2/28]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const CartesianAcceleration &	acceleration
	)

Parameters

os	The ostream to append the string representing the Cartesian acceleration to
acceleration	The Cartesian acceleration to print

Returns: The appended ostream

Definition at line 198 of file CartesianAcceleration.cpp.

◆ operator<<() [3/28]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const CartesianPose &	pose
	)

Parameters

os	The ostream to append the string representing the Cartesian pose to
CartesianPose	The Cartesian pose to print

Returns: The appended ostream

Definition at line 205 of file CartesianPose.cpp.

◆ operator<<() [4/28]

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

Parameters

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

Returns: The appended ostream

Definition at line 833 of file CartesianState.cpp.

◆ operator<<() [5/28]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const CartesianTwist &	twist
	)

Parameters

os	The ostream to append the string representing the Cartesian twist to
CartesianTwist	The Cartesian twist to print

Returns: The appended ostream

Definition at line 217 of file CartesianTwist.cpp.

◆ operator<<() [6/28]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const CartesianWrench &	wrench
	)

Parameters

os	The ostream to append the string representing the Cartesian wrench to
CartesianWrench	The Cartesian wrench to print

Returns: The appended ostream

Definition at line 171 of file CartesianWrench.cpp.

◆ operator<<() [7/28]

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

Parameters

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

Returns: The appended ostream

Definition at line 129 of file DigitalIOState.cpp.

◆ operator<<() [8/28]

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

Parameters

os	the ostream to happend the string representing the state to
state	the state to print

Returns: the appended ostream

Definition at line 104 of file DualQuaternionPose.cpp.

◆ operator<<() [9/28]

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

Parameters

os	the ostream to happend the string representing the state to
state	the state to print

Returns: the appended ostream

Definition at line 83 of file DualQuaternionState.cpp.

◆ operator<<() [10/28]

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

Parameters

os	the ostream to happend the string representing the state to
state	the state to print

Returns: the appended ostream

Definition at line 41 of file DualQuaternionTwist.cpp.

◆ operator<<() [11/28]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const Eigen::Vector3d &	field
	)

Definition at line 797 of file CartesianState.cpp.

◆ operator<<() [12/28]

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

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.

◆ operator<<() [13/28]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const Event &	event
	)

Parameters

os	The ostream to append the string representing the Event to
predicate	The Event to print

Returns: The appended ostream

Definition at line 7 of file Event.cpp.

◆ operator<<() [14/28]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const Jacobian &	jacobian
	)

Parameters

os	The ostream to append the string representing the Jacobian to
jacobian	The Jacobian to print

Returns: The appended ostream

Definition at line 333 of file Jacobian.cpp.

◆ operator<<() [15/28]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const JointAccelerations &	accelerations
	)

Parameters

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

Returns: The appended ostream

Definition at line 191 of file JointAccelerations.cpp.

◆ operator<<() [16/28]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const JointPositions &	positions
	)

Parameters

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

Returns: The appended ostream

Definition at line 186 of file JointPositions.cpp.

◆ operator<<() [17/28]

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

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.

◆ operator<<() [18/28]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const JointTorques &	torques
	)

Parameters

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

Returns: The appended ostream

Definition at line 166 of file JointTorques.cpp.

◆ operator<<() [19/28]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const JointVelocities &	velocities
	)

Parameters

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

Returns: The appended ostream

Definition at line 203 of file JointVelocities.cpp.

◆ operator<<() [20/28]

template<>

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const Parameter< std::vector< bool > > &	parameter
	)

Definition at line 205 of file Parameter.cpp.

◆ operator<<() [21/28]

template<>

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const Parameter< std::vector< double > > &	parameter
	)

Definition at line 192 of file Parameter.cpp.

◆ operator<<() [22/28]

template<>

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const Parameter< std::vector< int > > &	parameter
	)

Definition at line 179 of file Parameter.cpp.

◆ operator<<() [23/28]

template<>

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const Parameter< std::vector< std::string > > &	parameter
	)

Definition at line 218 of file Parameter.cpp.

◆ operator<<() [24/28]

template<typename T >

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const Parameter< T > &	parameter
	)

Definition at line 158 of file Parameter.cpp.

◆ operator<<() [25/28]

std::ostream & state_representation::operator<<	(	std::ostream &	os,
		const Predicate &	predicate
	)

Parameters

os	The ostream to append the string representing the Predicate to
predicate	The Predicate to print

Returns: the appended ostream

Definition at line 9 of file Predicate.cpp.

◆ operator<<() [26/28]

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

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.

◆ operator<<() [27/28]

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

Parameters

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

Returns: The appended ostream

Definition at line 55 of file SpatialState.cpp.

◆ operator<<() [28/28]

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

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() [1/9]

void state_representation::swap	(	AnalogIOState &	state1,
		AnalogIOState &	state2
	)

inline

Parameters

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

Definition at line 111 of file AnalogIOState.hpp.

◆ swap() [2/9]

void state_representation::swap	(	CartesianState &	state1,
		CartesianState &	state2
	)

inline

Parameters

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

Definition at line 590 of file CartesianState.hpp.

◆ swap() [3/9]

void state_representation::swap	(	DigitalIOState &	state1,
		DigitalIOState &	state2
	)

inline

Parameters

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

Definition at line 170 of file DigitalIOState.hpp.

◆ swap() [4/9]

void state_representation::swap	(	Ellipsoid &	state1,
		Ellipsoid &	state2
	)

inline

Parameters

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

Definition at line 153 of file Ellipsoid.hpp.

◆ swap() [5/9]

void state_representation::swap	(	Jacobian &	jacobian1,
		Jacobian &	jacobian2
	)

inline

Parameters

jacobian1	Jacobian to be swapped with 2
jacobian2	Jacobian to be swapped with 1

Definition at line 333 of file Jacobian.hpp.

◆ swap() [6/9]

void state_representation::swap	(	JointState &	state1,
		JointState &	state2
	)

inline

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.

◆ swap() [7/9]

void state_representation::swap	(	Shape &	state1,
		Shape &	state2
	)

inline

Parameters

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

Definition at line 125 of file Shape.hpp.

◆ swap() [8/9]

void state_representation::swap	(	SpatialState &	state1,
		SpatialState &	state2
	)

inline

Parameters

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

Definition at line 74 of file SpatialState.hpp.

◆ swap() [9/9]

void state_representation::swap	(	State &	state1,
		State &	state2
	)

inline

Parameters

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

Definition at line 181 of file State.hpp.

Classes

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

◆ ParameterInterfaceList

◆ ParameterInterfaceMap

Enumeration Type Documentation

◆ CartesianStateVariable

◆ JointStateVariable

◆ ParameterType

◆ StateType

Function Documentation

◆ dist() [1/2]

◆ dist() [2/2]

◆ exp()

◆ log()

◆ make_shared_state()

◆ operator*() [1/25]

◆ operator*() [2/25]

◆ operator*() [3/25]

◆ operator*() [4/25]

◆ operator*() [5/25]

◆ operator*() [6/25]

◆ operator*() [7/25]

◆ operator*() [8/25]

◆ operator*() [9/25]

◆ operator*() [10/25]

◆ operator*() [11/25]

◆ operator*() [12/25]

◆ operator*() [13/25]

◆ operator*() [14/25]

◆ operator*() [15/25]

◆ operator*() [16/25]

◆ operator*() [17/25]

◆ operator*() [18/25]

◆ operator*() [19/25]

◆ operator*() [20/25]

◆ operator*() [21/25]

◆ operator*() [22/25]

◆ operator*() [23/25]

◆ operator*() [24/25]

◆ operator*() [25/25]

◆ operator<<() [1/28]

◆ operator<<() [2/28]

◆ operator<<() [3/28]

◆ operator<<() [4/28]

◆ operator<<() [5/28]

◆ operator<<() [6/28]

◆ operator<<() [7/28]

◆ operator<<() [8/28]

◆ operator<<() [9/28]

◆ operator<<() [10/28]

◆ operator<<() [11/28]

◆ operator<<() [12/28]

◆ operator<<() [13/28]

◆ operator<<() [14/28]

◆ operator<<() [15/28]

◆ operator<<() [16/28]

◆ operator<<() [17/28]

◆ operator<<() [18/28]

◆ operator<<() [19/28]

◆ operator<<() [20/28]

◆ operator<<() [21/28]

◆ operator<<() [22/28]

◆ operator<<() [23/28]

◆ operator<<() [24/28]

◆ operator<<() [25/28]

◆ operator<<() [26/28]

◆ operator<<() [27/28]

◆ operator<<() [28/28]

◆ swap() [1/9]

◆ swap() [2/9]

◆ swap() [3/9]

◆ swap() [4/9]

◆ swap() [5/9]

◆ swap() [6/9]

◆ swap() [7/9]

◆ swap() [8/9]