wolf::StateQuaternion Class Reference

#include <core/state_block/state_quaternion.h>

Inheritance diagram for wolf::StateQuaternion:

Public Member Functions
	StateQuaternion (bool _fixed=false, bool _transformable=true)
	StateQuaternion (const Eigen::VectorXd &_state, bool _fixed=false, bool _transformable=true)
	StateQuaternion (const Eigen::Quaterniond &_quaternion, bool _fixed=false, bool _transformable=true)
	~StateQuaternion () override
	WOLF_STATE_BLOCK_CREATE (StateQuaternion)
void	setIdentity (bool _notify=true) override
Eigen::VectorXd	identity () const override
virtual void	transform (const VectorComposite &_transformation) override
Public Member Functions inherited from wolf::StateBlock
	StateBlock (const std::string &_type, const SizeEigen _size, bool _fixed=false, LocalParametrizationBasePtr _local_param_ptr=nullptr, bool _transformable=true)
	Constructor from size. More...
	StateBlock (const std::string &_type, const Eigen::VectorXd &_state, bool _fixed=false, LocalParametrizationBasePtr _local_param_ptr=nullptr, bool _transformable=true)
	Constructor from vector. More...
	StateBlock (const StateBlock &o)=delete
	StateBlock (StateBlock &&o)=delete
StateBlock &	operator= (const StateBlock &o)=delete
virtual	~StateBlock ()
	Destructor. More...
std::string	getType () const
	Returns the type of the state block. More...
Eigen::VectorXd	getState () const
	Returns the state vector. More...
double *	getStateData ()
	Returns the state vector data array. More...
void	setState (const Eigen::VectorXd &_state, const bool _notify=true)
	Sets the state vector. More...
SizeEigen	getSize () const
	Returns the state size. More...
SizeEigen	getLocalSize () const
	Returns the size of the local parametrization. More...
bool	isFixed () const
	Returns if the state is fixed (not estimated) More...
void	fix ()
	Sets the state as fixed. More...
void	unfix ()
	Sets the state as estimated. More...
void	setFixed (bool _fixed)
	Sets the state status. More...
bool	hasLocalParametrization () const
	Returns if the state has a local parametrization. More...
LocalParametrizationBasePtr	getLocalParametrization () const
	Returns the state local parametrization ptr. More...
void	setLocalParametrization (LocalParametrizationBasePtr _local_param)
	Sets a local parametrization. More...
void	removeLocalParametrization ()
	Removes the state_block local parametrization. More...
bool	stateUpdated () const
	Return if state has been updated. More...
bool	fixUpdated () const
	Return if fix/unfix has been updated. More...
bool	localParamUpdated () const
	Return if local parameterization has been updated. More...
void	resetStateUpdated ()
	Set state_updated_ to false. More...
void	resetFixUpdated ()
	Set fix_updated_ to false. More...
void	resetLocalParamUpdated ()
	Set localk_param_updated_ to false. More...
virtual void	setIdentity (bool _notify=true)
void	setZero (bool _notify=true)
virtual Eigen::VectorXd	identity () const
Eigen::VectorXd	zero () const
void	perturb (double amplitude=0.1)
	perturb all states states with random noise following an uniform distribution in [ -amplitude, amplitude ] More...
bool	isTransformable () const
void	setTransformable (bool _trf=true)
void	setNonTransformable ()
virtual void	transform (const VectorComposite &_transformation)=0
void	plus (const Eigen::VectorXd &_dv)
bool	isValid (double tolerance=Constants::EPS)

Static Public Member Functions
static Eigen::VectorXd	Identity ()

Additional Inherited Members
Protected Attributes inherited from wolf::StateBlock
std::string	type_
	Type of the derived class. More...
std::atomic_bool	fixed_
	Key to indicate whether the state is fixed or not. More...
std::atomic< SizeEigen >	state_size_
	State vector size. More...
Eigen::VectorXd	state_
	State vector storing the state values. More...
std::mutex	mut_state_
	State vector mutex. More...
LocalParametrizationBasePtr	local_param_ptr_
	Local parametrization useful for optimizing in the tangent space to the manifold. More...
std::atomic_bool	state_updated_
	Flag to indicate whether the state has been updated or not. More...
std::atomic_bool	fix_updated_
	Flag to indicate whether the status has been updated or not. More...
std::atomic_bool	local_param_updated_
	Flag to indicate whether the local_parameterization has been updated or not. More...
bool	transformable_
	Flag to indicate if the state block can be transformed to another reference frame. More...

Constructor & Destructor Documentation

StateQuaternion() [1/3]

wolf::StateQuaternion::StateQuaternion ( bool  _fixed = false, bool  _transformable = true  )

inline

StateQuaternion() [2/3]

wolf::StateQuaternion::StateQuaternion ( const Eigen::VectorXd &  _state, bool  _fixed = false, bool  _transformable = true  )

inline

StateQuaternion() [3/3]

wolf::StateQuaternion::StateQuaternion ( const Eigen::Quaterniond &  _quaternion, bool  _fixed = false, bool  _transformable = true  )

inline

~StateQuaternion()

wolf::StateQuaternion::~StateQuaternion ( )

inlineoverride

Member Function Documentation

Identity()

Eigen::VectorXd wolf::StateQuaternion::Identity ( )

inlinestatic

identity()

Eigen::VectorXd wolf::StateQuaternion::identity ( ) const

inlineoverridevirtual

Reimplemented from wolf::StateBlock.

setIdentity()

void wolf::StateQuaternion::setIdentity ( bool  _notify = true )

inlineoverridevirtual

Reimplemented from wolf::StateBlock.

transform()

void wolf::StateQuaternion::transform ( const VectorComposite &  _transformation )

inlineoverridevirtual

Implements wolf::StateBlock.

WOLF_STATE_BLOCK_CREATE()

wolf::StateQuaternion::WOLF_STATE_BLOCK_CREATE

(

StateQuaternion

)

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The documentation for this class was generated from the following file:

• include/core/state_block/state_quaternion.h