base::samples::BodyState Struct Reference

#include <BodyState.hpp>

Public Member Functions
	BodyState (bool doInvalidation=true)
	BodyState (const base::TransformWithCovariance &pose, const base::TwistWithCovariance &velocity)
void	setPose (const base::Affine3d &pose)
const base::Affine3d	getPose () const
double	getYaw () const
double	getPitch () const
double	getRoll () const
const base::Position &	position () const
base::Position &	position ()
const base::Quaterniond &	orientation () const
base::Quaterniond &	orientation ()
const base::Vector3d &	linear_velocity () const
base::Position &	linear_velocity ()
const base::Vector3d &	angular_velocity () const
base::Position &	angular_velocity ()
const base::Matrix6d &	cov_pose () const
base::Matrix6d &	cov_pose ()
const base::Matrix3d	cov_orientation () const
void	cov_orientation (const base::Matrix3d &cov)
const base::Matrix3d	cov_position () const
void	cov_position (const base::Matrix3d &cov)
const base::Matrix6d &	cov_velocity () const
base::Matrix6d &	cov_velocity ()
const base::Matrix3d	cov_linear_velocity () const
void	cov_linear_velocity (const base::Matrix3d &cov)
const base::Matrix3d	cov_angular_velocity () const
void	cov_angular_velocity (const base::Matrix3d &cov)
void	initSane ()
void	invalidate ()
void	initUnknown ()
bool	hasValidPose () const
bool	hasValidPoseCovariance () const
void	invalidatePose ()
void	invalidatePoseCovariance ()
bool	hasValidVelocity () const
bool	hasValidVelocityCovariance () const
void	invalidateVelocity ()
void	invalidateVelocityCovariance ()
void	invalidateValues (bool pose=true, bool velocity=true)
void	invalidateCovariances (bool pose=true, bool velocity=true)
BodyState &	operator= (const base::samples::RigidBodyState &rbs)
BodyState	composition (const BodyState &bs) const
BodyState	operator* (const BodyState &bs) const

Static Public Member Functions
static BodyState	Unknown ()
static BodyState	Invalid ()

Public Attributes
base::Time	time
base::TransformWithCovariance	pose
base::TwistWithCovariance	velocity

Friends
std::ostream &	operator<< (std::ostream &out, const TransformWithCovariance &trans)

Detailed Description

Representation of the state of a rigid body

This is among other things used to express frame transformations by Rock's transformer

Given a source and target frame, this structure expresses the frame change between these two frames. In effect, it represents the state of the source frame expressed in the target frame.

Per Rock's conventions, you should use a X-forward, right handed coordinate system when assigning frames to bodies (i.e. X=forward, Y=left, Z=up). In addition, world-fixed frames should be aligned to North (North-East-Up)

For instance, if sourceFrame is "body" and targetFrame is "world", then the BodyState object is the state of body in the world frame (usually, the world frame has an arbitrary origin and a North-East-Up orientation).

Constructor & Destructor Documentation

BodyState() [1/2]

base::samples::BodyState::BodyState

(

bool

doInvalidation = true

)

BodyState() [2/2]

base::samples::BodyState::BodyState ( const base::TransformWithCovariance &  pose, const base::TwistWithCovariance &  velocity  )

inline

Member Function Documentation

angular_velocity() [1/2]

const Vector3d & base::samples::BodyState::angular_velocity

(

)

const

angular_velocity() [2/2]

Position & base::samples::BodyState::angular_velocity

(

)

composition()

BodyState base::samples::BodyState::composition

(

const BodyState &

bs

)

const

performs a composition of this Body State with the Body State given. The result is another Body State with result = this * trans

cov_angular_velocity() [1/2]

const Matrix3d base::samples::BodyState::cov_angular_velocity

(

)

const

A read-only expression of the angular velocity covariance

cov_angular_velocity() [2/2]

void base::samples::BodyState::cov_angular_velocity

(

const base::Matrix3d &

cov

)

cov_linear_velocity() [1/2]

const Matrix3d base::samples::BodyState::cov_linear_velocity

(

)

const

A read-only expression of the linear velocity covariance

cov_linear_velocity() [2/2]

void base::samples::BodyState::cov_linear_velocity

(

const base::Matrix3d &

cov

)

cov_orientation() [1/2]

const Matrix3d base::samples::BodyState::cov_orientation

(

)

const

A read-only expression of the rotation covariance

cov_orientation() [2/2]

void base::samples::BodyState::cov_orientation

(

const base::Matrix3d &

cov

)

cov_pose() [1/2]

const Matrix6d & base::samples::BodyState::cov_pose

(

)

const

A read-only expression of the pose covariance

cov_pose() [2/2]

Matrix6d & base::samples::BodyState::cov_pose

(

)

cov_position() [1/2]

const Matrix3d base::samples::BodyState::cov_position

(

)

const

A read-only expression of the position covariance

cov_position() [2/2]

void base::samples::BodyState::cov_position

(

const base::Matrix3d &

cov

)

cov_velocity() [1/2]

const Matrix6d & base::samples::BodyState::cov_velocity

(

)

const

A read-only expression of the velocity covariance

cov_velocity() [2/2]

Matrix6d & base::samples::BodyState::cov_velocity

(

)

getPitch()

double base::samples::BodyState::getPitch

(

)

const

getPose()

const Affine3d base::samples::BodyState::getPose

(

)

const

getRoll()

double base::samples::BodyState::getRoll

(

)

const

getYaw()

double base::samples::BodyState::getYaw

(

)

const

hasValidPose()

bool base::samples::BodyState::hasValidPose

(

)

const

hasValidPoseCovariance()

bool base::samples::BodyState::hasValidPoseCovariance

(

)

const

hasValidVelocity()

bool base::samples::BodyState::hasValidVelocity

(

)

const

hasValidVelocityCovariance()

bool base::samples::BodyState::hasValidVelocityCovariance

(

)

const

initSane()

void base::samples::BodyState::initSane

(

)

For backward compatibility only. Use invalidate()

initUnknown()

void base::samples::BodyState::initUnknown

(

)

Initializes the rigid body state unknown with Zero for the position, velocity and angular velocity, Identity for the orientation and infinity for all covariances.

Invalid()

BodyState base::samples::BodyState::Invalid ( )

static

invalidate()

void base::samples::BodyState::invalidate

(

)

Initializes the rigid body state with NaN for the position, velocity, orientation and angular velocity.

invalidateCovariances()

void base::samples::BodyState::invalidateCovariances	(	bool	pose = true,
		bool	velocity = true
	)

invalidatePose()

void base::samples::BodyState::invalidatePose

(

)

invalidatePoseCovariance()

void base::samples::BodyState::invalidatePoseCovariance

(

)

invalidateValues()

void base::samples::BodyState::invalidateValues	(	bool	pose = true,
		bool	velocity = true
	)

invalidateVelocity()

void base::samples::BodyState::invalidateVelocity

(

)

invalidateVelocityCovariance()

void base::samples::BodyState::invalidateVelocityCovariance

(

)

linear_velocity() [1/2]

const Vector3d & base::samples::BodyState::linear_velocity

(

)

const

linear_velocity() [2/2]

Position & base::samples::BodyState::linear_velocity

(

)

operator*()

BodyState base::samples::BodyState::operator*

(

const BodyState &

bs

)

const

alias for the composition of two body states

The composition of two body states is here defined as the composition of the pose transformation as it is defined in the TransformWithCovariance. The velocity held by the last body state (here bs1) is assumed to be the current "instantaneous" body state velocity and of the resulting body state.

Resulting velocity and covariance with respect to the pose base frame

Uncertainty propagation through assuming linear transformation. From R. Astudillo and R.Kolossa Chapter 3 Uncertainty Propagation

Improvement at this point(TO-DO): change to Jacobian derivation since the propagation is not linear

operator=()

BodyState & base::samples::BodyState::operator=

(

const base::samples::RigidBodyState &

rbs

)

For backward compatibility with RBS

extract the transformation

and the transformation covariance

Extract the velocity

Extract the velocity covariance

orientation() [1/2]

const Quaterniond & base::samples::BodyState::orientation

(

)

const

A read-only expression of the rotation

orientation() [2/2]

Quaterniond & base::samples::BodyState::orientation

(

)

position() [1/2]

const Position & base::samples::BodyState::position

(

)

const

position() [2/2]

Position & base::samples::BodyState::position

(

)

setPose()

void base::samples::BodyState::setPose

(

const base::Affine3d &

pose

)

Unknown()

BodyState base::samples::BodyState::Unknown ( )

static

Friends And Related Function Documentation

operator<<

std::ostream& operator<< ( std::ostream &  out, const TransformWithCovariance &  trans  )

friend

Default std::cout function

cout the 6D pose vector (translation and scaled axis orientation) with its associated covariance matrix

Member Data Documentation

pose

base::TransformWithCovariance base::samples::BodyState::pose

Robot pose: rotation in radians and translation in meters

time

base::Time base::samples::BodyState::time

Time-stamp

velocity

base::TwistWithCovariance base::samples::BodyState::velocity

TwistWithCovariance: Linear[m/s] and Angular[rad/s] Velocity of the Body It is assumed here that velocity is the derivative of a delta pose for a given interval. When such interval tends to zero, one could talk of instantaneous velocity

---

The documentation for this struct was generated from the following files:

• /home/dfki.uni-bremen.de/roehr/workspace/2maz/dev/base/types/src/samples/BodyState.hpp
• /home/dfki.uni-bremen.de/roehr/workspace/2maz/dev/base/types/src/samples/BodyState.cpp