aikido::statespace::SE2StateHandle< _QualifiedState > Class Template Reference

StateHandle for a SE2. More...

#include <aikido/statespace/detail/SE2-impl.hpp>

Inheritance diagram for aikido::statespace::SE2StateHandle< _QualifiedState >:

Public Member Functions
	SE2StateHandle ()
	Construct and initialize to nullptr. More...
	SE2StateHandle (const StateSpace *_space, QualifiedState *_state)
	Construct a handle for _state in _space. More...
Eigen::Isometry2d	getIsometry () const
	Gets value as an Eigen transformation object. More...
void	setIsometry (const Eigen::Isometry2d &_transform)
	Sets value to an Eigen transfomation object. More...
Public Member Functions inherited from aikido::statespace::StateHandle< SE2, _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
Public Types inherited from aikido::statespace::StateHandle< SE2, _QualifiedState >
using	StateSpace = SE2
using	QualifiedState = _QualifiedState
using	State = typename StateSpace::State
using	ConstState = typename std::conditional< std::is_const< QualifiedState >::value, QualifiedState, const QualifiedState >::type
Protected Attributes inherited from aikido::statespace::StateHandle< SE2, _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::SE2StateHandle< _QualifiedState >

StateHandle for a SE2.

Defined in detail/SE2-impl.hpp.

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

Template Parameters

_QualifiedState

type of State being wrapped

Constructor & Destructor Documentation

SE2StateHandle() [1/2]

template<class _QualifiedState >

aikido::statespace::SE2StateHandle< _QualifiedState >::SE2StateHandle ( )

inline

Construct and initialize to nullptr.

SE2StateHandle() [2/2]

template<class _QualifiedState >

aikido::statespace::SE2StateHandle< _QualifiedState >::SE2StateHandle ( 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

getIsometry()

template<class _QualifiedState >

Eigen::Isometry2d aikido::statespace::SE2StateHandle< _QualifiedState >::getIsometry ( ) const

inline

Gets value as an Eigen transformation object.

Returns

Eigen transformation

setIsometry()

template<class _QualifiedState >

void aikido::statespace::SE2StateHandle< _QualifiedState >::setIsometry ( const Eigen::Isometry2d &  _transform )

inline

Sets value to an Eigen transfomation object.

Parameters

_transform

Eigen transformation