aikido::statespace::SO2::State Class Reference

#include <aikido/statespace/SO2.hpp>

Inheritance diagram for aikido::statespace::SO2::State:

Public Member Functions
	State (double angle=0.0)
	Constructs a state from a rotation angle. More...
	~State ()=default
double	toAngle () const
	Returns state as a rotation angle in (-pi, pi]. More...
void	fromAngle (double angle)
	Sets state from a rotation angle. More...
Eigen::Rotation2Dd	toRotation () const
	Returns state as an Eigen rotation. More...
void	fromRotation (const Eigen::Rotation2Dd &rotation)
	Sets state from an Eigen rotation. More...

Private Attributes
double	mAngle
	Angle bounded in (-pi, pi] representing the SO(2) state. More...

Friends
class	SO2

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...

Constructor & Destructor Documentation

State()

aikido::statespace::SO2::State::State ( double  angle = 0.0 )

explicit

Constructs a state from a rotation angle.

Parameters

[in]

angle

Rotation angle in (-inf, inf).

~State()

aikido::statespace::SO2::State::~State ( )

default

Member Function Documentation

fromAngle()

void aikido::statespace::SO2::State::fromAngle

(

double

angle

)

Sets state from a rotation angle.

Parameters

[in]

angle

Rotation angle in (-inf, inf).

fromRotation()

void aikido::statespace::SO2::State::fromRotation

(

const Eigen::Rotation2Dd &

rotation

)

Sets state from an Eigen rotation.

Parameters

[in]

rotation

Eigen rotation.

toAngle()

double aikido::statespace::SO2::State::toAngle

(

)

const

Returns state as a rotation angle in (-pi, pi].

toRotation()

Eigen::Rotation2Dd aikido::statespace::SO2::State::toRotation

(

)

const

Returns state as an Eigen rotation.

Friends And Related Function Documentation

SO2

friend class SO2

friend

Member Data Documentation

mAngle

double aikido::statespace::SO2::State::mAngle

private

Angle bounded in (-pi, pi] representing the SO(2) state.