A representation of a state of a Robot. More...

#include <state.h>

Public Member Functions
Constructors
	State (const Robot &robot)
	Constructor. More...

	State (const RobotPtr &robot)
	Constructor. More...

	State (const State &)=delete

	State (State &&)=delete

Configuration Management
void	setJoint (const RobotPtr &robot, const std::string &name, double value)
	Sets the value of a frame with one joint parameter. More...

void	setTranslateJoint (const RobotPtr &robot, const std::string &name, const Eigen::Vector2d &value)
	Sets the value of a frame with a translation joint. More...

void	setFloatJoint (const RobotPtr &robot, const std::string &name, const Eigen::Isometry2d &value)
	Sets the value of a frame with a floating joint. More...

void	setFloatJoint (const RobotPtr &robot, const std::string &name, const Eigen::Vector3d &value)
	Sets the value of a frame with a floating joint. More...

void	setRandom (const RobotPtr &robot)
	Sets a random value to the state. More...

void	copy (const StatePtr &other)
	Copies the configuration from another state. More...

Pose Management
void	fk (const RobotPtr &robot)
	Compute the forward kinematics for all frames in the robot. More...

const Eigen::Isometry2d &	getPose (const RobotPtr &robot, const std::string &frame)
	Get the pose of a frame of the robot. fk() must be called before calling this function. More...

const Eigen::MatrixXd &	getJacobian (const RobotPtr &robot, const std::string &frame)
	Get the jacobian of a frame of the robot. More...

const tf::EigenVector< Eigen::Isometry2d > &	getGeometryPoses (const RobotPtr &robot, const std::string &frame)
	Get the poses of geometry attached to a frame of the robot. fk() must be called before calling this function. More...

Informative
std::string	printFrames (const RobotPtr &robot) const
	Print out the current value of all frames on the robot. More...

Public Attributes
bool	dirty {true}

Eigen::VectorXd	data
	Configuration vector. More...

FrameMapPtr	frames {nullptr}
	Frame poses. More...

Detailed Description

A representation of a state of a Robot.

Definition at line 28 of file state.h.

Constructor & Destructor Documentation

◆ State() [1/4]

State::State ( const Robot & robot )

Constructor.

Parameters

[in] robot Robot that this is a state for.

Definition at line 13 of file state.cpp.

◆ State() [2/4]

State::State ( const RobotPtr & robot )

Constructor.

Parameters

[in] robot Robot that this is a state for.

Definition at line 26 of file state.cpp.

◆ State() [3/4]

se2ez::State::State ( const State & )

delete

◆ State() [4/4]

se2ez::State::State ( State && )

delete

Member Function Documentation

◆ copy()

void State::copy ( const StatePtr & other )

Copies the configuration from another state.

Parameters

[in] other State to copy.

Definition at line 74 of file state.cpp.

◆ fk()

void State::fk ( const RobotPtr & robot )

Compute the forward kinematics for all frames in the robot.

Parameters

[in] robot Robot this state is for.

Definition at line 80 of file state.cpp.

◆ getGeometryPoses()

const tf::EigenVector< Eigen::Isometry2d > & State::getGeometryPoses	(	const RobotPtr &	robot,
		const std::string &	frame
	)

Get the poses of geometry attached to a frame of the robot. fk() must be called before calling this function.

Parameters

[in]	robot	Robot this state is for.
[in]	frame	Frame to get pose for.

Returns: Poses of the frame's geometry.

Definition at line 104 of file state.cpp.

◆ getJacobian()

const Eigen::MatrixXd & State::getJacobian	(	const RobotPtr &	robot,
		const std::string &	frame
	)

Get the jacobian of a frame of the robot.

Parameters

[in]	robot	Robot this state is for.
[in]	frame	Frame to get jacobian for.

Returns: Jacobian of the frame.

Definition at line 99 of file state.cpp.

◆ getPose()

const Eigen::Isometry2d & State::getPose	(	const RobotPtr &	robot,
		const std::string &	frame
	)

Get the pose of a frame of the robot. fk() must be called before calling this function.

Parameters

[in]	robot	Robot this state is for.
[in]	frame	Frame to get pose for.

Returns: Pose of the frame.

Definition at line 91 of file state.cpp.

◆ printFrames()

std::string State::printFrames ( const RobotPtr & robot ) const

Print out the current value of all frames on the robot.

Parameters

[in] robot Robot this state is for.

Returns: Tree of all frames with their poses.

Definition at line 113 of file state.cpp.

◆ setFloatJoint() [1/2]

void State::setFloatJoint	(	const RobotPtr &	robot,
		const std::string &	name,
		const Eigen::Isometry2d &	value
	)

Sets the value of a frame with a floating joint.

Parameters

[in]	robot	Robot this state is for.
[in]	name	Name of frame to set value of.
[in]	value	Value to set.

Definition at line 51 of file state.cpp.

◆ setFloatJoint() [2/2]

void State::setFloatJoint	(	const RobotPtr &	robot,
		const std::string &	name,
		const Eigen::Vector3d &	value
	)

Sets the value of a frame with a floating joint.

Parameters

[in]	robot	Robot this state is for.
[in]	name	Name of frame to set value of.
[in]	value	Value to set.

Definition at line 57 of file state.cpp.

◆ setJoint()

void State::setJoint	(	const RobotPtr &	robot,
		const std::string &	name,
		double	value
	)

Sets the value of a frame with one joint parameter.

Parameters

[in]	robot	Robot this state is for.
[in]	name	Name of frame to set value of.
[in]	value	Value to set.

Definition at line 39 of file state.cpp.

◆ setRandom()

void State::setRandom ( const RobotPtr & robot )

Sets a random value to the state.

Parameters

[in] robot Robot this state is for.

Definition at line 63 of file state.cpp.

◆ setTranslateJoint()

void State::setTranslateJoint	(	const RobotPtr &	robot,
		const std::string &	name,
		const Eigen::Vector2d &	value
	)

Sets the value of a frame with a translation joint.

Parameters

[in]	robot	Robot this state is for.
[in]	name	Name of frame to set value of.
[in]	value	Value to set.

Definition at line 45 of file state.cpp.

Member Data Documentation

◆ data

Eigen::VectorXd se2ez::State::data

Configuration vector.

Definition at line 140 of file state.h.

◆ dirty

bool se2ez::State::dirty {true}

Definition at line 139 of file state.h.

◆ frames

FrameMapPtr se2ez::State::frames {nullptr}

Frame poses.

Definition at line 141 of file state.h.

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

/home/zak/code/se2ez_work/include/se2ez/core/state.h
/home/zak/code/se2ez_work/src/core/state.cpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ State() [1/4]

◆ State() [2/4]

◆ State() [3/4]

◆ State() [4/4]

Member Function Documentation

◆ copy()

◆ fk()

◆ getGeometryPoses()

◆ getJacobian()

◆ getPose()

◆ printFrames()

◆ setFloatJoint() [1/2]

◆ setFloatJoint() [2/2]

◆ setJoint()

◆ setRandom()

◆ setTranslateJoint()

Member Data Documentation

◆ data

◆ dirty

◆ frames