base::samples::RigidBodyState Struct Reference

#include <RigidBodyState.hpp>

Public Member Functions
	RigidBodyState (bool doInvalidation=true)
void	setTransform (const Eigen::Affine3d &transform)
Eigen::Affine3d	getTransform () const
void	setPose (const base::Pose &pose)
base::Pose	getPose () const
double	getYaw () const
double	getPitch () const
double	getRoll () const
template<int _Options>
	operator Eigen::Transform< double, 3, Eigen::Affine, _Options > () const
void	initSane ()
void	invalidate ()
void	initUnknown ()
bool	hasValidPosition () const
bool	hasValidPosition (int idx) const
bool	hasValidPositionCovariance () const
void	invalidatePosition ()
void	invalidatePositionCovariance ()
bool	hasValidOrientation () const
bool	hasValidOrientationCovariance () const
void	invalidateOrientation ()
void	invalidateOrientationCovariance ()
bool	hasValidVelocity () const
bool	hasValidVelocity (int idx) const
bool	hasValidVelocityCovariance () const
void	invalidateVelocity ()
void	invalidateVelocityCovariance ()
bool	hasValidAngularVelocity () const
bool	hasValidAngularVelocity (int idx) const
bool	hasValidAngularVelocityCovariance () const
void	invalidateAngularVelocity ()
void	invalidateAngularVelocityCovariance ()
void	invalidateValues (bool invPos, bool invOri, bool invVel=true, bool invAngVel=true)
void	invalidateCovariances (bool invPos=true, bool invOri=true, bool invVel=true, bool invAngVel=true)

Static Public Member Functions
static RigidBodyState	unknown ()
static RigidBodyState	invalid ()
static bool	isValidValue (base::Vector3d const &vec)
static bool	isValidValue (base::Orientation const &ori)
static bool	isKnownValue (base::Matrix3d const &cov)
static bool	isValidCovariance (base::Matrix3d const &cov)
static bool	isValidValue (base::Vector3d const &vec, int dim)
static bool	isValidCovariance (base::Matrix3d const &cov, int dim)
static bool	isKnownValue (base::Matrix3d const &cov, int dim)
static base::Vector3d	invalidValue ()
static base::Orientation	invalidOrientation ()
static base::Matrix3d	setValueUnknown ()
static base::Matrix3d	invalidCovariance ()

Public Attributes
base::Time	time
std::string	sourceFrame
std::string	targetFrame
Position	position
base::Matrix3d	cov_position
Orientation	orientation
base::Matrix3d	cov_orientation
base::Vector3d	velocity
base::Matrix3d	cov_velocity
base::Vector3d	angular_velocity
base::Matrix3d	cov_angular_velocity

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-West-Up, aka NWU)

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

Constructor & Destructor Documentation

RigidBodyState()

base::samples::RigidBodyState::RigidBodyState

(

bool

doInvalidation = true

)

Member Function Documentation

getPitch()

double base::samples::RigidBodyState::getPitch

(

)

const

getPose()

Pose base::samples::RigidBodyState::getPose

(

)

const

getRoll()

double base::samples::RigidBodyState::getRoll

(

)

const

getTransform()

Eigen::Affine3d base::samples::RigidBodyState::getTransform

(

)

const

getYaw()

double base::samples::RigidBodyState::getYaw

(

)

const

hasValidAngularVelocity() [1/2]

bool base::samples::RigidBodyState::hasValidAngularVelocity

(

)

const

hasValidAngularVelocity() [2/2]

bool base::samples::RigidBodyState::hasValidAngularVelocity

(

int

idx

)

const

hasValidAngularVelocityCovariance()

bool base::samples::RigidBodyState::hasValidAngularVelocityCovariance

(

)

const

hasValidOrientation()

bool base::samples::RigidBodyState::hasValidOrientation

(

)

const

hasValidOrientationCovariance()

bool base::samples::RigidBodyState::hasValidOrientationCovariance

(

)

const

hasValidPosition() [1/2]

bool base::samples::RigidBodyState::hasValidPosition

(

)

const

hasValidPosition() [2/2]

bool base::samples::RigidBodyState::hasValidPosition

(

int

idx

)

const

hasValidPositionCovariance()

bool base::samples::RigidBodyState::hasValidPositionCovariance

(

)

const

hasValidVelocity() [1/2]

bool base::samples::RigidBodyState::hasValidVelocity

(

)

const

hasValidVelocity() [2/2]

bool base::samples::RigidBodyState::hasValidVelocity

(

int

idx

)

const

hasValidVelocityCovariance()

bool base::samples::RigidBodyState::hasValidVelocityCovariance

(

)

const

initSane()

void base::samples::RigidBodyState::initSane

(

)

For backward compatibility only. Use invalidate()

initUnknown()

void base::samples::RigidBodyState::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()

RigidBodyState base::samples::RigidBodyState::invalid ( )

static

invalidate()

void base::samples::RigidBodyState::invalidate

(

)

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

invalidateAngularVelocity()

void base::samples::RigidBodyState::invalidateAngularVelocity

(

)

invalidateAngularVelocityCovariance()

void base::samples::RigidBodyState::invalidateAngularVelocityCovariance

(

)

invalidateCovariances()

void base::samples::RigidBodyState::invalidateCovariances	(	bool	invPos = true,
		bool	invOri = true,
		bool	invVel = true,
		bool	invAngVel = true
	)

invalidateOrientation()

void base::samples::RigidBodyState::invalidateOrientation

(

)

invalidateOrientationCovariance()

void base::samples::RigidBodyState::invalidateOrientationCovariance

(

)

invalidatePosition()

void base::samples::RigidBodyState::invalidatePosition

(

)

invalidatePositionCovariance()

void base::samples::RigidBodyState::invalidatePositionCovariance

(

)

invalidateValues()

void base::samples::RigidBodyState::invalidateValues	(	bool	invPos,
		bool	invOri,
		bool	invVel = true,
		bool	invAngVel = true
	)

invalidateVelocity()

void base::samples::RigidBodyState::invalidateVelocity

(

)

invalidateVelocityCovariance()

void base::samples::RigidBodyState::invalidateVelocityCovariance

(

)

invalidCovariance()

Matrix3d base::samples::RigidBodyState::invalidCovariance ( )

static

invalidOrientation()

Orientation base::samples::RigidBodyState::invalidOrientation ( )

static

invalidValue()

Vector3d base::samples::RigidBodyState::invalidValue ( )

static

isKnownValue() [1/2]

bool base::samples::RigidBodyState::isKnownValue ( base::Matrix3d const &  cov )

static

Helper method that checks if the value whose covariance is represented by the given matrix is a known value (not Inf in the diagonal).

isKnownValue() [2/2]

bool base::samples::RigidBodyState::isKnownValue ( base::Matrix3d const &  cov, int  dim  )

static

Checks if the dimension of a vector given by a covariance is known.

isValidCovariance() [1/2]

bool base::samples::RigidBodyState::isValidCovariance ( base::Matrix3d const &  cov )

static

Helper method that checks if the covariance represented by the given matrix is valid

isValidCovariance() [2/2]

bool base::samples::RigidBodyState::isValidCovariance ( base::Matrix3d const &  cov, int  dim  )

static

Checks if a given dimension of a covariance matrix is valid.

isValidValue() [1/3]

bool base::samples::RigidBodyState::isValidValue ( base::Vector3d const &  vec )

static

Helper method that checks if a value is valid (not NaN anywhere).

isValidValue() [2/3]

bool base::samples::RigidBodyState::isValidValue ( base::Orientation const &  ori )

static

Helper method that checks if an orientation is valid (not NaN anywhere) and that the orientation is an unit quaternion.

isValidValue() [3/3]

bool base::samples::RigidBodyState::isValidValue ( base::Vector3d const &  vec, int  dim  )

static

Checks if a given dimension of a vector is valid.

operator Eigen::Transform< double, 3, Eigen::Affine, _Options >()

template<int _Options>

base::samples::RigidBodyState::operator Eigen::Transform< double, 3, Eigen::Affine, _Options > ( ) const

inline

setPose()

void base::samples::RigidBodyState::setPose

(

const base::Pose &

pose

)

setTransform()

void base::samples::RigidBodyState::setTransform

(

const Eigen::Affine3d &

transform

)

setValueUnknown()

Matrix3d base::samples::RigidBodyState::setValueUnknown ( )

static

unknown()

RigidBodyState base::samples::RigidBodyState::unknown ( )

static

Member Data Documentation

angular_velocity

base::Vector3d base::samples::RigidBodyState::angular_velocity

Angular Velocity of sourceFrame relative to targetFrame, expressed in sourceFrame, as an axis-angle representation

The direction of the vector is the axis, its length the speed

cov_angular_velocity

base::Matrix3d base::samples::RigidBodyState::cov_angular_velocity

Covariance of the angular velocity

cov_orientation

base::Matrix3d base::samples::RigidBodyState::cov_orientation

Covariance matrix of the orientation as an axis/angle manifold in body coordinates

cov_position

base::Matrix3d base::samples::RigidBodyState::cov_position

Covariance matrix of the position

cov_velocity

base::Matrix3d base::samples::RigidBodyState::cov_velocity

Covariance of the velocity

orientation

Orientation base::samples::RigidBodyState::orientation

Orientation of targetFrame expressed in sourceFrame

position

Position base::samples::RigidBodyState::position

Position in m of sourceFrame's origin expressed in targetFrame

sourceFrame

std::string base::samples::RigidBodyState::sourceFrame

Name of the source reference frame

targetFrame

std::string base::samples::RigidBodyState::targetFrame

Name of the target reference frame

time

base::Time base::samples::RigidBodyState::time

velocity

base::Vector3d base::samples::RigidBodyState::velocity

Velocity in m/s of sourceFrame relative to targetFrame, expressed in targetFrame

---

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

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