QState Class Reference

The configuration state of a work cell. More...

#include <QState.hpp>

Public Member Functions
	QState ()
	Constructs an empty QState.
	QState (rw::core::Ptr< rw::kinematics::StateSetup > setup)
	A configuration state. More...
virtual	~QState ()
	destructor
double *	getQ (const rw::kinematics::StateData &data)
	An array of length frame.getDOF() containing the joint values for frame. More...
const double *	getQ (const rw::kinematics::StateData &data) const
	non const version of getQ.
void	setQ (const rw::kinematics::StateData &data, const double *vals)
	Assign for frame the frame.getDOF() joint values of the array vals. More...
QState	operator* (double scale) const
	Scaling of a configuration state by a scalar.
QState	operator/ (double scale) const
	Scaling of a configuration state by division.
QState	operator+ (const QState &b) const
	Addition of configuration states.
QState	operator- (const QState &b) const
	Subtraction of configuration states.
QState	operator- () const
	Unary minus operator.
rw::core::Ptr< rw::kinematics::StateSetup >	getStateSetup () const
	returns the StateSetup
QState &	operator= (const QState &rhs)
	Assignment operator. More...
size_t	size () const
	The dimension of the state vector.
double &	operator() (size_t index)
	Get element of state. More...
const double &	operator() (size_t index) const
	Get element of state. More...
double &	operator[] (size_t index)
	Get element of state. More...
double	operator[] (size_t index) const
	Get element of state. More...

Friends
std::ostream &	operator<< (std::ostream &os, const QState &state)
	streaming operator More...
QState	operator* (double scale, const QState &q)
	Scaling of a configuration state by a scalar.

Detailed Description

The configuration state of a work cell.

The configuration state contains state data values for all valid StateData in a StateStructure. The validity is defined by the StateSetup.

See Frame::getTransform() for the calculation of the relative transform of a frame for a given configuration state.

Configuration states can be freely copied and assigned.

The configuration state is a part of the StateStructure state (see State).

Constructor & Destructor Documentation

QState()

QState ( rw::core::Ptr< rw::kinematics::StateSetup >  setup )

explicit

A configuration state.

This constructor is not available for use outside of RobWork. Instead your configuration states should be constructed via the copy constructor.

Parameters

setup

[in] The shared setup for configuration states.

Member Function Documentation

getQ()

double* getQ

(

const rw::kinematics::StateData &

data

)

An array of length frame.getDOF() containing the joint values for frame.

It is OK to call this method also for frames with zero degrees of freedom.

Returns

The joint values for the frame.

operator()() [1/2]

double& operator() ( size_t  index )

inline

Get element of state.

Parameters

index

[in] the index.

Returns

the value at given index.

operator()() [2/2]

const double& operator() ( size_t  index ) const

inline

Get element of state.

Parameters

index

[in] the index.

Returns

the value at given index.

operator=()

QState& operator=

(

const QState &

rhs

)

Assignment operator.

Parameters

rhs	[in] the other QState to assign to this.

Returns

a reference to this QState.

operator[]() [1/2]

double& operator[] ( size_t  index )

inline

Get element of state.

Parameters

index

[in] the index.

Returns

the value at given index.

operator[]() [2/2]

double operator[] ( size_t  index ) const

inline

Get element of state.

Parameters

index

[in] the index.

Returns

the value at given index.

setQ()

void setQ	(	const rw::kinematics::StateData &	data,
		const double *	vals
	)

Assign for frame the frame.getDOF() joint values of the array vals.

The array vals must be of length at least frame.getDOF().

Parameters

data	[in] The StateData for which the joint values are assigned.
vals	[in] The joint values to assign.

setQ() and getQ() are related as follows:

q_state.setQ(frame, q_in);
const double* q_out = q_state.getQ(frame);
for (int i = 0; i < frame.getDOF(); i++)
  q_in[i] == q_out[i];

Friends And Related Function Documentation

operator<<

std::ostream& operator<< ( std::ostream &  os, const QState &  state  )

friend

streaming operator

Parameters

os	[in] output stream
state	[in] state to stream out

Returns

the stream

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

• QState.hpp