the basic building block for the stateless design using the StateStructure class. A StateData represents a size, a unique id, and a unique name, when inserted into the StateStructure. The size will allocate "size"-doubles in State objects originating from the StateStructure. More...

#include <StateData.hpp>

Inherited by Frame, and Constraint.

Public Member Functions
virtual	~StateData ()
	destructor

int	getID () const
	An integer ID for the StateData. More...

const std::string &	getName () const
	The name of the state data. More...

int	size () const
	The number of doubles allocated by this StateData in each State object. More...

const double *	getData (const rw::kinematics::State &state) const
	An array of length size() containing the values for the state data. More...

double *	getData (rw::kinematics::State &state)
	An array of length size() containing the values for the state data. More...

void	setData (rw::kinematics::State &state, const double *vals) const
	Assign for state data the size() of values of the array vals. More...

void	setData (rw::kinematics::State &state, const std::vector< double > &vals) const
	Assign for state data the size() of values of the array vals. More...

void	setData (rw::kinematics::State &state, const double &val) const
	Assign for state data the size() of values of the array vals. More...

bool	hasCache () const
	Check is state data includes a cache. More...

rw::core::Ptr< rw::kinematics::StateCache >	getCache (const rw::kinematics::State &state) const
	Get the cache. More...

rw::core::Ptr< rw::kinematics::StateCache >	getCache (rw::kinematics::State &state)
	Get the cache. . More...

rw::core::Ptr< rw::kinematics::StateCache >	getDefaultCache ()
	Get default cache. More...

void	setCache (rw::core::Ptr< rw::kinematics::StateCache > cache, rw::kinematics::State &state)
	Set the cache values. More...

class rw::kinematics::StateStructure *	getStateStructure ()
	Get the state structure. More...

bool	operator== (const StateData &rhs)
	Compares the state data to see if they are the same Checks the ID, name and which statetrucure they belong to. More...

bool	operator!= (const StateData &rhs)
	Check if not equal. More...

	StateData (int size, const std::string &name)
	A state with size number of doubles in the State vector. More...

	StateData (int size, const std::string &name, rw::core::Ptr< rw::kinematics::StateCache > cache)
	A state with size number of doubles in the State vector. More...

Friends
class	StateStructure

Detailed Description

the basic building block for the stateless design using the StateStructure class. A StateData represents a size, a unique id, and a unique name, when inserted into the StateStructure. The size will allocate "size"-doubles in State objects originating from the StateStructure.

Constructor & Destructor Documentation

◆ StateData() [1/2]

StateData	(	int	size,
		const std::string &	name
	)

A state with size number of doubles in the State vector.

size must be non-negative.

The newly created state data can be added to a structure with StateStructure::addData().

The size of the state data in nr of doubles of the state data is constant throughout the lifetime of the state data.

Parameters

size	[in] The number of degrees of freedom of the frame.
name	[in] The name of the frame.

◆ StateData() [2/2]

StateData	(	int	size,
		const std::string &	name,
		rw::core::Ptr< rw::kinematics::StateCache >	cache
	)

A state with size number of doubles in the State vector.

size must be non-negative.

The newly created state data can be added to a structure with StateStructure::addData().

The size of the state data in nr of doubles of the state data is constant throughout the lifetime of the state data.

Parameters

size	[in] The number of degrees of freedom of the frame.
name	[in] The name of the frame.
cache	[in] a cache.

Member Function Documentation

◆ getCache() [1/2]

rw::core::Ptr<rw::kinematics::StateCache> getCache ( const rw::kinematics::State & state ) const

Get the cache.

Parameters

state [in] the state.

Returns: the cache.

◆ getCache() [2/2]

rw::core::Ptr<rw::kinematics::StateCache> getCache ( rw::kinematics::State & state )

Get the cache. .

Parameters

state [in] the state.

Returns: the cache. .

◆ getData() [1/2]

const double* getData ( const rw::kinematics::State & state ) const

inline

An array of length size() containing the values for the state data.

It is OK to call this method also for a StateData with zero size.

Parameters

state [in] The state containing the StateData values.

Returns: The values for the frame.

◆ getData() [2/2]

double* getData ( rw::kinematics::State & state )

inline

An array of length size() containing the values for the state data.

It is OK to call this method also for a StateData with zero size.

Parameters

state [in] The state containing the StateData values.

Returns: The values for the frame.

◆ getDefaultCache()

rw::core::Ptr<rw::kinematics::StateCache> getDefaultCache ( )

inline

Get default cache.

Returns: the cache.

◆ getID()

int getID ( ) const

inline

An integer ID for the StateData.

IDs are assigned to the state data upon insertion State. StateData that are not in a State have an ID of -1.

StateData present in different trees may have identical IDs.

IDs are used for the efficient implementation of State. Normally, you should not make use of StateData IDs yourself.

Returns: An integer ID for the frame.

◆ getName()

const std::string& getName ( ) const

inline

The name of the state data.

Returns: The name of the state data.

◆ getStateStructure()

class rw::kinematics::StateStructure* getStateStructure ( )

inline

Get the state structure.

Returns: the state structure.

◆ hasCache()

bool hasCache ( ) const

inline

Check is state data includes a cache.

Returns: true if cache, false otherwise.

◆ operator!=()

bool operator!= ( const StateData & rhs )

inline

Check if not equal.

Parameters

rhs	[in] the StateData to compare with

Returns: true if not equal; false if equal

◆ operator==()

bool operator== ( const StateData & rhs )

Compares the state data to see if they are the same Checks the ID, name and which statetrucure they belong to.

Parameters

rhs	[in] the StateData to compare with

Returns: true if equal; false if not equal

◆ setCache()

void setCache	(	rw::core::Ptr< rw::kinematics::StateCache >	cache,
		rw::kinematics::State &	state
	)

Set the cache values.

Parameters

cache	[in] the cache.
state	[in/out] state updated with new cache.

◆ setData() [1/3]

void setData	(	rw::kinematics::State &	state,
		const double &	val
	)		const

inline

Assign for state data the size() of values of the array vals.

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

Parameters

state	[inout] The state to which vals are written.
vals	[in] The joint value to assign.

setData() and getData() are related as follows:

data.setData(state, q_in);
const double* q_out = data.getData(state);
for (int i = 0; i < data.getDOF(); i++)
  q_in[i] == q_out[i];

◆ setData() [2/3]

void setData	(	rw::kinematics::State &	state,
		const double *	vals
	)		const

inline

Assign for state data the size() of values of the array vals.

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

Parameters

state	[inout] The state to which vals are written.
vals	[in] The joint values to assign.

setData() and getData() are related as follows:

data.setData(state, q_in);
const double* q_out = data.getData(state);
for (int i = 0; i < data.getDOF(); i++)
  q_in[i] == q_out[i];

◆ setData() [3/3]

void setData	(	rw::kinematics::State &	state,
		const std::vector< double > &	vals
	)		const

inline

Assign for state data the size() of values of the array vals.

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

Parameters

state	[inout] The state to which vals are written.
vals	[in] The joint values to assign.

setData() and getData() are related as follows:

data.setData(state, q_in);
const double* q_out = data.getData(state);
for (int i = 0; i < data.getDOF(); i++)
  q_in[i] == q_out[i];

◆ size()

int size ( ) const

inline

The number of doubles allocated by this StateData in each State object.

Returns: The number of doubles allocated by the StateData

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

StateData.hpp

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ StateData() [1/2]

◆ StateData() [2/2]

Member Function Documentation

◆ getCache() [1/2]

◆ getCache() [2/2]

◆ getData() [1/2]

◆ getData() [2/2]

◆ getDefaultCache()

◆ getID()

◆ getName()

◆ getStateStructure()

◆ hasCache()

◆ operator!=()

◆ operator==()

◆ setCache()

◆ setData() [1/3]

◆ setData() [2/3]

◆ setData() [3/3]

◆ size()