aikido::statespace::SO3StateHandle< _QualifiedState > Class Template Reference

StateHandle for a SO3. More...

#include <aikido/statespace/detail/SO3-impl.hpp>

Inheritance diagram for aikido::statespace::SO3StateHandle< _QualifiedState >:

Public Types
using	Quaternion = typename State::Quaternion
Public Types inherited from aikido::statespace::StateHandle< SO3, _QualifiedState >
using	StateSpace = SO3
using	QualifiedState = _QualifiedState
using	State = typename StateSpace::State
using	ConstState = typename std::conditional< std::is_const< QualifiedState >::value, QualifiedState, const QualifiedState >::type

Public Member Functions
	SO3StateHandle ()
	Construct and initialize to nullptr. More...
	SO3StateHandle (const StateSpace *_space, QualifiedState *_state)
	Construct a handle for _state in _space. More...
const Quaternion &	getQuaternion ()
	Constructs a point in SO(3) from a unit quaternion. More...
void	setQuaternion (const Quaternion &_quaternion)
	Sets a state to a unit quaternion. More...
Public Member Functions inherited from aikido::statespace::StateHandle< SO3, _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
Protected Attributes inherited from aikido::statespace::StateHandle< SO3, _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::SO3StateHandle< _QualifiedState >

StateHandle for a SO3.

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

Template Parameters

_QualifiedState

type of State being wrapped

Member Typedef Documentation

Quaternion

template<class _QualifiedState >

using aikido::statespace::SO3StateHandle< _QualifiedState >::Quaternion = typename State::Quaternion

Constructor & Destructor Documentation

SO3StateHandle() [1/2]

template<class _QualifiedState >

aikido::statespace::SO3StateHandle< _QualifiedState >::SO3StateHandle ( )

inline

Construct and initialize to nullptr.

SO3StateHandle() [2/2]

template<class _QualifiedState >

aikido::statespace::SO3StateHandle< _QualifiedState >::SO3StateHandle ( 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

getQuaternion()

template<class _QualifiedState >

const Quaternion& aikido::statespace::SO3StateHandle< _QualifiedState >::getQuaternion ( )

inline

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

setQuaternion()

template<class _QualifiedState >

void aikido::statespace::SO3StateHandle< _QualifiedState >::setQuaternion ( const Quaternion &  _quaternion )

inline

Sets a state to a unit quaternion.

Parameters

_quaternion

unit quaternion representing orientation