SO2-impl.hpp

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namespace aikido {
namespace statespace {
 
template <class _QualifiedState>
class SO2StateHandle : public statespace::StateHandle<SO2, _QualifiedState>
{
public:
  using typename statespace::StateHandle<SO2, _QualifiedState>::State;
  using typename statespace::StateHandle<SO2, _QualifiedState>::StateSpace;
  using typename statespace::StateHandle<SO2, _QualifiedState>::QualifiedState;
 
  SO2StateHandle()
  {
  }
 
  SO2StateHandle(const StateSpace* _space, QualifiedState* _state)
    : statespace::StateHandle<StateSpace, QualifiedState>(_space, _state)
  {
  }
 
  double toAngle() const
  {
    return this->getStateSpace()->toAngle(this->getState());
  }
 
  void fromAngle(double angle)
  {
    return this->getStateSpace()->fromAngle(this->getState(), angle);
  }
 
  Eigen::Rotation2Dd toRotation() const
  {
    return this->getStateSpace()->toRotation(this->getState());
  }
 
  void fromRotation(const Eigen::Rotation2Dd& rotation)
  {
    return this->getStateSpace()->fromRotation(this->getState(), rotation);
  }
};
 
} // namespace statespace
} // namespace aikido