aikido::statespace::RStateHandle< _QualifiedState > Class Template Reference

StateHandle for a Rn. More...

#include <aikido/statespace/detail/Rn-impl.hpp>

Inheritance diagram for aikido::statespace::RStateHandle< _QualifiedState >:

Public Types
using	VectorNd = typename R< DimensionAtCompileTime >::VectorNd
using	ValueType = std::conditional< std::is_const< QualifiedState >::value, const VectorNd, VectorNd >

Public Member Functions
	RStateHandle ()
	Construct and initialize to nullptr. More...
	RStateHandle (const StateSpace *_space, QualifiedState *_state)
	Construct a handle for _state in _space. More...
Eigen::Map< const VectorNd >	getValue ()
	Gets the real vector stored in this state. More...
void	setValue (const VectorNd &_value)
	Sets the real vector stored in this state. More...

Static Public Attributes
static constexpr int	DimensionAtCompileTime = _QualifiedState::DimensionAtCompileTime

Detailed Description

template<class _QualifiedState>
class aikido::statespace::RStateHandle< _QualifiedState >

StateHandle for a Rn.

The template parameter is necessary to support both const and non-const states.

Template Parameters

_QualifiedState

type of State being wrapped

Member Typedef Documentation

ValueType

template<class _QualifiedState >

using aikido::statespace::RStateHandle< _QualifiedState >::ValueType = std::conditional< std::is_const<QualifiedState>::value, const VectorNd, VectorNd>

VectorNd

template<class _QualifiedState >

using aikido::statespace::RStateHandle< _QualifiedState >::VectorNd = typename R<DimensionAtCompileTime>::VectorNd

Constructor & Destructor Documentation

RStateHandle() [1/2]

template<class _QualifiedState >

aikido::statespace::RStateHandle< _QualifiedState >::RStateHandle ( )

inline

Construct and initialize to nullptr.

RStateHandle() [2/2]

template<class _QualifiedState >

aikido::statespace::RStateHandle< _QualifiedState >::RStateHandle ( const StateSpace *  _space, QualifiedState *  _state  )

inline

Construct a handle for _state in _space.

Parameters

_space	state space that created _state
_state	state created by _space

Member Function Documentation

getValue()

template<class _QualifiedState >

Eigen::Map<const VectorNd> aikido::statespace::RStateHandle< _QualifiedState >::getValue ( )

inline

Gets the real vector stored in this state.

Returns

real vector stored in this state

setValue()

template<class _QualifiedState >

void aikido::statespace::RStateHandle< _QualifiedState >::setValue ( const VectorNd &  _value )

inline

Sets the real vector stored in this state.

Parameters

_value

real vector to store in _state

Member Data Documentation

DimensionAtCompileTime

template<class _QualifiedState >

constexpr int aikido::statespace::RStateHandle< _QualifiedState >::DimensionAtCompileTime = _QualifiedState::DimensionAtCompileTime

staticconstexpr