SE2-impl.hpp

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namespace aikido {
namespace statespace {
 
template <class _QualifiedState>
class SE2StateHandle : public statespace::StateHandle<SE2, _QualifiedState>
{
public:
  using typename statespace::StateHandle<SE2, _QualifiedState>::State;
  using typename statespace::StateHandle<SE2, _QualifiedState>::StateSpace;
  using typename statespace::StateHandle<SE2, _QualifiedState>::QualifiedState;
 
  SE2StateHandle()
  {
  }
 
  SE2StateHandle(const StateSpace* _space, QualifiedState* _state)
    : statespace::StateHandle<SE2, QualifiedState>(_space, _state)
  {
  }
 
  Eigen::Isometry2d getIsometry() const
  {
    return this->getStateSpace()->getIsometry(this->getState());
  }
 
  void setIsometry(const Eigen::Isometry2d& _transform)
  {
    return this->getStateSpace()->setIsometry(this->getState(), _transform);
  }
};
 
} // namespace statespace
} // namespace aikido