#include <Rn-impl.hpp>

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

Public Types
using	VectorNd = typename R< DimensionAtCompileTime >::VectorNd

using	ValueType = std::conditional< std::is_const< QualifiedState >::value, const VectorNd, VectorNd >

Public Member Functions
	RStateHandle ()
	Construct and initialize to `nullptr`.

	RStateHandle (const StateSpace _space, QualifiedState _state)
	Construct a handle for `_state` in `_space`. More...

Eigen::Map< const VectorNd >	getValue ()
	Gets the real vector stored in this state. More...

void	setValue (const VectorNd &_value)
	Sets the real vector stored in this state. More...

Static Public Attributes
static constexpr int	DimensionAtCompileTime = _QualifiedState::DimensionAtCompileTime

Detailed Description

StateHandle for a Rn.

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

Template Parameters

_QualifiedState type of State being wrapped

Constructor & Destructor Documentation

template<class _QualifiedState >

aikido::statespace::RStateHandle< _QualifiedState >::RStateHandle	(	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`

template<class _QualifiedState >

Eigen::Map<const VectorNd> aikido::statespace::RStateHandle< _QualifiedState >::getValue ( )

inline

Gets the real vector stored in this state.

template<class _QualifiedState >

void aikido::statespace::RStateHandle< _QualifiedState >::setValue ( const VectorNd & _value )

inline

Sets the real vector stored in this state.

Parameters

_value real vector to store in _state

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