aikido::statespace::SO2StateHandle< _QualifiedState > Class Template Reference
StateHandle for a SO2.
More...
#include <aikido/statespace/detail/SO2-impl.hpp>
Inheritance diagram for aikido::statespace::SO2StateHandle< _QualifiedState >:
Public Member Functions | |
| SO2StateHandle () | |
Construct and initialize to nullptr. More... | |
| SO2StateHandle (const StateSpace *_space, QualifiedState *_state) | |
Construct a handle for _state in _space. More... | |
| double | toAngle () const |
| Returns angle corresponding to the state. More... | |
| void | fromAngle (double angle) |
| Sets state given a rotation angle. More... | |
| Eigen::Rotation2Dd | toRotation () const |
| Returns the Eigen transformation corresponding to state. More... | |
| void | fromRotation (const Eigen::Rotation2Dd &rotation) |
| Sets state given an Eigen transformation. More... | |
 Public Member Functions inherited from aikido::statespace::StateHandle< SO2, _QualifiedState > | |
| StateHandle () | |
| Constructs a nullptr handle. More... | |
| StateHandle (const StateSpace *space, QualifiedState *state) | |
| Wrap state, which must be form the provided StateSpace. More... | |
| StateHandle (const StateHandle &)=default | |
| StateHandle (StateHandle &&)=default | |
| StateHandle & | operator= (StateHandle &&)=default |
| StateHandle & | operator= (const StateHandle &)=default |
| operator QualifiedState * () const | |
Implicitly convert to a State pointer. More... | |
| void | reset () |
| Resets StateHandle to nullptr. More... | |
| void | reset (const StateSpace *space, QualifiedState *state) |
| Resets the state, which must be from the provided StateSpace. More... | |
| auto | getState () -> typename std::enable_if<!std::is_const< Q >::value, Q * >::type |
| Returns the State. More... | |
| auto | getState () const -> typename std::conditional< std::is_const< Q >::value, Q *, const Q * >::type |
| Returns the State. More... | |
| const StateSpace * | getStateSpace () const |
| Returns the state space that created this state. More... | |
Additional Inherited Members | |
| Public Types inherited from aikido::statespace::StateHandle< SO2, _QualifiedState > | |
| using | StateSpace = SO2 |
| using | QualifiedState = _QualifiedState |
| using | State = typename StateSpace::State |
| using | ConstState = typename std::conditional< std::is_const< QualifiedState >::value, QualifiedState, const QualifiedState >::type |
| Protected Attributes inherited from aikido::statespace::StateHandle< SO2, _QualifiedState > | |
| const StateSpace * | mSpace |
| State space of the sate that is managed by this handler. More... | |
| QualifiedState * | mState |
| State managed by this handler. This can be either const or non-const type. More... | |
Detailed Description
template<class _QualifiedState>
class aikido::statespace::SO2StateHandle< _QualifiedState >
StateHandle for a SO2.
The template parameter is necessary to support both const and non-const states.
- Template Parameters
-
_QualifiedState type of Statebeing wrapped
Constructor & Destructor Documentation
◆ SO2StateHandle() [1/2]
template<class _QualifiedState >
|
inline |
Construct and initialize to nullptr.
◆ SO2StateHandle() [2/2]
template<class _QualifiedState >
|
inline |
Construct a handle for _state in _space.
- Parameters
-
_space state space that created _state_state state created by _space
Member Function Documentation
◆ fromAngle()
template<class _QualifiedState >
|
inline |
Sets state given a rotation angle.
- Parameters
-
[in] angle rotation angle.
◆ fromRotation()
template<class _QualifiedState >
|
inline |
Sets state given an Eigen transformation.
- Parameters
-
[in] rotation Eigen transformation.
◆ toAngle()
template<class _QualifiedState >
|
inline |
Returns angle corresponding to the state.
◆ toRotation()
template<class _QualifiedState >
|
inline |
Returns the Eigen transformation corresponding to state.
