This class defines a state, i.e. a configuration and its (translation and rotation) velocities. More...

#include <state.hpp>

Inheritance diagram for State:

Public Member Functions
iSeeML::Object &	clone () const

const iSeeML::rob::OrPtConfig &	configuration () const
	Gives the configuration of the state. More...

const double &	date () const
	Gives the configuration of the state. More...

State	operator+ (const iSeeML::rob::OrPtConfig &q) const
	Returns the addition of a configuration to the current state. More...

void	operator+= (const iSeeML::rob::OrPtConfig &q)
	Adds a configuration to the current state: moves the state in the configuration's frame. More...

bool	operator== (const State &other) const
	Equality operator between states. More...

const double &	rotationVelocity () const
	Gives the rotation velocity of the state. More...

	State ()
	The default constructor should only be used for array initializations: it correspond to a default point with zero orientation. More...

	State (const double &date, const iSeeML::rob::OrPtConfig &q, const double &trans_vel, const double &rot_vel)
	The main constructor. More...

const double &	translationVelocity () const
	Gives the translation velocity of the state. More...

void	writeTo (std::ostream &O) const
	Writes the configuration's values in an output stream. More...

Static Public Attributes
static const string	ClassName

Private Attributes
iSeeML::rob::OrPtConfig	config
	Configuration of the state. More...

double	rotation_vel
	Rotation velocity of the state. More...

double	t
	Date of the state. More...

double	translation_vel
	Translation velocity of the state. More...

Detailed Description

This class defines a state, i.e. a configuration and its (translation and rotation) velocities.

Since: 0.3.1

Definition at line 22 of file state.hpp.

Constructor & Destructor Documentation

State::State ( )

inline

The default constructor should only be used for array initializations: it correspond to a default point with zero orientation.

See also: default constructor of Config.

Definition at line 41 of file state.hpp.

State::State	(	const double &	date,
		const iSeeML::rob::OrPtConfig &	q,
		const double &	trans_vel,
		const double &	rot_vel
	)

inline

The main constructor.

Parameters

date	the date of the state,
q	the configuration of the state,
trans_vel	the translation velocity of the state,
rot_vel	the rotation velocity of the state.

Definition at line 50 of file state.hpp.

Member Function Documentation

iSeeML::Object& State::clone ( ) const

inline

Description method, giving a copy of the current configuration.

This clone is dynamically allocated (using default copy constructor), it has to be deleted later.

Returns: a copy/clone of the current configuration.

Definition at line 108 of file state.hpp.

const iSeeML::rob::OrPtConfig& State::configuration ( ) const

inline

Gives the configuration of the state.

Returns: the configuration of the state.

Definition at line 67 of file state.hpp.

const double& State::date ( ) const

inline

Gives the configuration of the state.

Returns: the configuration of the state.

Definition at line 61 of file state.hpp.

State State::operator+ ( const iSeeML::rob::OrPtConfig & q ) const

inline

Returns the addition of a configuration to the current state.

Parameters

q	a configuration.

Returns: the state in the configuration's frame.

See also: operator+=, copy operator.

Definition at line 131 of file state.hpp.

void State::operator+= ( const iSeeML::rob::OrPtConfig & q )

inline

Adds a configuration to the current state: moves the state in the configuration's frame.

Parameters

q	a configuration.

See also: configuration, Config::operator+, translation_velocity, rotation_velocity.

Definition at line 142 of file state.hpp.

bool State::operator== ( const State & other ) const

inline

Equality operator between states.

Parameters

other another state.

Returns: whether the two states are equal (same configuration and velocities).

See also: configuration, Config::operator==, translation_velocity, rotation_velocity, isZero.

Definition at line 93 of file state.hpp.

const double& State::rotationVelocity ( ) const

inline

Gives the rotation velocity of the state.

Returns: the rotation velocity of the state.

Definition at line 81 of file state.hpp.

const double& State::translationVelocity ( ) const

inline

Gives the translation velocity of the state.

Returns: the translation velocity of the state.

Definition at line 74 of file state.hpp.

void State::writeTo ( std::ostream & O ) const

inline

Writes the configuration's values in an output stream.

Parameters

O	the output stream in which the description is written.

See also: ostream::operator<<(const Object&)

Definition at line 114 of file state.hpp.

Member Data Documentation

const string State::ClassName

static

The class name is public, as this class can be instanced.

See also: className.

Definition at line 33 of file state.hpp.

iSeeML::rob::OrPtConfig State::config

private

Configuration of the state.

Definition at line 24 of file state.hpp.

double State::rotation_vel

private

Rotation velocity of the state.

Definition at line 26 of file state.hpp.

double State::t

private

Date of the state.

Definition at line 23 of file state.hpp.

double State::translation_vel

private

Translation velocity of the state.

Definition at line 25 of file state.hpp.

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

state.hpp

Public Member Functions

Static Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation