OpenDE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for. More...
#include <OpenDEStateSpace.h>
Public Member Functions | |
const double * | getBodyPosition (unsigned int body) const |
Get the position (x, y, z) of the body at index body. | |
double * | getBodyPosition (unsigned int body) |
Get the position (x, y, z) of the body at index body. | |
const base::SO3StateSpace::StateType & | getBodyRotation (unsigned int body) const |
Get the quaternion of the body at index body. | |
base::SO3StateSpace::StateType & | getBodyRotation (unsigned int body) |
Get the quaternion of the body at index body. | |
const double * | getBodyLinearVelocity (unsigned int body) const |
Get the linear velocity (x, y, z) of the body at index body. | |
double * | getBodyLinearVelocity (unsigned int body) |
Get the linear velocity (x, y, z) of the body at index body. | |
const double * | getBodyAngularVelocity (unsigned int body) const |
Get the angular velocity (x, y, z) of the body at index body. | |
double * | getBodyAngularVelocity (unsigned int body) |
Get the angular velocity (x, y, z) of the body at index body. | |
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template<class T > | |
const T * | as (const unsigned int index) const |
Cast a component of this instance to a desired type. | |
template<class T > | |
T * | as (const unsigned int index) |
Cast a component of this instance to a desired type. | |
State * | operator[] (unsigned int i) const |
Access element ith component. This does not check whether the index is within bounds. | |
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template<class T > | |
const T * | as (void) const |
Cast this instance to a desired type. | |
template<class T > | |
T * | as (void) |
Cast this instance to a desired type. |
Public Attributes | |
int | collision |
Flag containing information about state validity. | |
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State ** | components |
The components that make up a compound state. |
OpenDE State. This is a compound state that allows accessing the properties of the bodies the state space is constructed for.
Definition at line 68 of file OpenDEStateSpace.h.
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mutable |
Flag containing information about state validity.
Definition at line 129 of file OpenDEStateSpace.h.