aikido::statespace::SO3::State Class Reference

State in SO(3), a spatial rotation. More...

#include <aikido/statespace/SO3.hpp>

Inheritance diagram for aikido::statespace::SO3::State:

Public Types
using	Quaternion = Eigen::Quaternion< double, Eigen::DontAlign >

Public Member Functions
	State ()
	Constructs the identity element. More...
	~State ()=default
	State (const Quaternion &_quaternion)
	Constructs a state in SO(3) from a unit quaternion. More...
const Quaternion &	getQuaternion () const
	Gets a state as a unit quaternion. More...
void	setQuaternion (const Quaternion &_quaternion)
	Sets a state to a unit quaternion. More...

Private Attributes
Quaternion	mValue

Friends
class	SO3

Additional Inherited Members
Protected Member Functions inherited from aikido::statespace::StateSpace::State
	State ()=default
	This is a base class that should only only be used in derived classes. More...
	~State ()=default
	It is unsafe to call this, since it is a non-virtual destructor. More...

Detailed Description

State in SO(3), a spatial rotation.

Member Typedef Documentation

Quaternion

using aikido::statespace::SO3::State::Quaternion = Eigen::Quaternion<double, Eigen::DontAlign>

Constructor & Destructor Documentation

State() [1/2]

aikido::statespace::SO3::State::State

(

)

Constructs the identity element.

~State()

aikido::statespace::SO3::State::~State ( )

default

State() [2/2]

aikido::statespace::SO3::State::State ( const Quaternion &  _quaternion )

explicit

Constructs a state in SO(3) from a unit quaternion.

Parameters

_quaternion

unit quaternion representing orientation

Member Function Documentation

getQuaternion()

const Quaternion& aikido::statespace::SO3::State::getQuaternion

(

)

const

Gets a state as a unit quaternion.

Returns

unit quaternion representing orientation

setQuaternion()

void aikido::statespace::SO3::State::setQuaternion

(

const Quaternion &

_quaternion

)

Sets a state to a unit quaternion.

Parameters

_quaternion

unit quaternion representing orientation

Friends And Related Function Documentation

SO3

friend class SO3

friend

Member Data Documentation

mValue

Quaternion aikido::statespace::SO3::State::mValue

private