Generic tree-like recursive structure that allows sub-structure access as well as ordered (array-like) value access. More...

#include <state.h>

Inheritance diagram for tuw::State:

[legend]

Public Member Functions
virtual StateSPtr	cloneState () const =0
	Clone-to-base-class-ptr function. More...

void	fromEIGENVec (const Eigen::VectorXd &_vec)
	Copies all values from an Eigen vector. The valueSize of the State object has to be equal with the Eigen vector size. More...

void	fromSTLVec (const std::vector< double > &_vec)
	Copies all values from an STL vector. The valueSize of the State object has to be equal with the STL vector size. More...

State &	operator= (const State &)=default

State &	operator= (State &&)=default

virtual void	resize (const size_t &_i)
	Resizes the array. More...

	State (State *_parent)

	State ()

	State (const State &)=default

	State (State &&)=default

virtual StateSPtr &	state (const std::size_t &_i)
	Access sub-state based on index _i. More...

virtual size_t	stateSize () const
	Size of the sub-states. More...

void	toEIGENVec (Eigen::VectorXd &_vec)
	Converts all the array values to an Eigen vector. More...

void	toSTLVec (std::vector< double > &_vec)
	Converts all the array values to an STL vector. More...

virtual void	updateSize ()
	Performs internal manipulation when any of the underlying arrays are being resized. More...

virtual double &	value (const std::size_t &_i)=0
	Access state variable based on index _i. More...

virtual const double &	value (const std::size_t &_i) const =0
	Const access state variable based on index _i. More...

virtual size_t	valueSize () const =0
	Size of the state variables. More...

virtual	~State ()=default

Static Public Member Functions
static std::vector< double > &	minus (State &_lhs, State &_rhs, std::vector< double > &_ans)
	Performs substraction. Left and right operand are required to have the same valueSize. More...

static Eigen::VectorXd &	minus (State &_lhs, State &_rhs, Eigen::VectorXd &_ans)
	Performs substraction. Left and right operand are required to have the same valueSize. More...

static State &	minus (State &_lhs, State &_rhs, State &_ans)
	Performs substraction. Answer variable, left operand and right operand are required to have the same valueSize. More...

static std::vector< double > &	plus (State &_lhs, State &_rhs, std::vector< double > &_ans)
	Performs addition. Left and right operand are required to have the same valueSize. More...

static Eigen::VectorXd &	plus (State &_lhs, State &_rhs, Eigen::VectorXd &_ans)
	Performs addition. Left and right operand are required to have the same valueSize. More...

static State &	plus (State &_lhs, State &_rhs, State &_ans)
	Performs addition. Answer variable, left operand and right operand are required to have the same valueSize. More...

Protected Member Functions
void	callRootUpdateSize ()
	Calls (if present) the parent updateSize procedure. Otherwise performs root updateSize. More...

Protected Attributes
State *	parent_
	Pointer to the parent State structure. More...

Friends
std::ostream &	operator<< (std::ostream &os, const State &o)
	prints the state value to an output stream. More...

Detailed Description

Generic tree-like recursive structure that allows sub-structure access as well as ordered (array-like) value access.

#include <tuw_control/utils.h>
#include <tuw_control/state/state_array.hpp>
#include <tuw_control/state/state_nested_set.h>
#include <tuw_control/state/state_nested_vector.h>
#include <tuw_control/state/state_nested_array.h>
#include <iostream>
using namespace tuw;
struct I2WS_Wheel_State {
    double steering;
    double revolute;
    void fromState ( const StateSPtr state ) {
        steering = state->value ( 0 );
        revolute = state->value ( 1 );
    }
    friend std::ostream &operator << ( std::ostream &os, const I2WS_Wheel_State &o ) {
        os << "[" << o.steering <<  ", " << o.revolute << "]";
        return os;
    };
};
struct I2WS_Wheels_State {
    I2WS_Wheel_State left;
    I2WS_Wheel_State right;
    void fromState ( const StateSPtr state ) {
#ifdef true
        left. fromState ( state->state ( 0 ) );
        right.fromState ( state->state ( 1 ) );
#else
        left. steering = state->value ( 0 );
        left. revolute = state->value ( 1 );
        right.steering = state->value ( 2 );
        right.revolute = state->value ( 3 );
#endif
    }
    friend std::ostream &operator << ( std::ostream &os, const I2WS_Wheels_State &o ) {
        os << "[" << o.left <<  ", " << o.right << "]";
        return os;
    };
};
enum class StateWheel { Steer, Revol, ENUM_SIZE };
using StateWhInpType   = StateNestedVector<StateArrayScoped<StateWheel>>;
using StateWhInpPtrType = std::shared_ptr<StateWhInpType>;
int main ( int argc, char **argv ) {
    std::cout << "iws utils test" << std::endl;
    StateWhInpPtrType tuw_i2ws_wheel_state = std::shared_ptr<StateWhInpType>(new StateWhInpType);
    tuw_i2ws_wheel_state->resize ( 2 );
    tuw_i2ws_wheel_state->value(0) = 10;
    tuw_i2ws_wheel_state->value(1) = 11;
    tuw_i2ws_wheel_state->value(2) = 12;
    tuw_i2ws_wheel_state->value(3) = 13;
    std::cout << "tuw      : "  << *tuw_i2ws_wheel_state << std::endl;
    std::vector<double> values;
    tuw_i2ws_wheel_state->toSTLVec ( values );
    I2WS_Wheels_State classical_state;
    classical_state.fromState(tuw_i2ws_wheel_state);
    std::cout << "classical: " << classical_state << std::endl;
    std::cout << "tuw      : [" << *tuw_i2ws_wheel_state->state(0) << ", " << *tuw_i2ws_wheel_state->state(1) << "]" <<
std::endl;
    std::cout << "tuw      : " << tuw_i2ws_wheel_state->stateScoped(1)->value<StateWheel::Steer>() << std::endl;
}

Definition at line 135 of file state.h.

Constructor & Destructor Documentation

tuw::State::State ( State * _parent )

inline

Definition at line 139 of file state.h.

tuw::State::State ( )

inline

Definition at line 145 of file state.h.

virtual tuw::State::~State ( )

virtualdefault

tuw::State::State ( const State & )

default

tuw::State::State ( State && )

default

Member Function Documentation

void tuw::State::callRootUpdateSize ( )

inlineprotected

Calls (if present) the parent updateSize procedure. Otherwise performs root updateSize.

Definition at line 380 of file state.h.

virtual StateSPtr tuw::State::cloneState ( ) const

pure virtual

Clone-to-base-class-ptr function.

Implemented in tuw::StateNestedArrayScoped< EnumStateVals, SubState >, tuw::StateArrayScoped< EnumStateVals >, tuw::StateArrayScoped< StateWheel >, tuw::StateNestedArray< SubState, N >, tuw::StateNestedArray< SubState, asInt(EnumStateVals::ENUM_SIZE)>, tuw::StateNestedSet< NestedStates >, tuw::StateNestedSet< NestedStates... >, tuw::StateSimTemplate< StateSize, StateNmSize >, tuw::StateArray< N >, tuw::StateArray< asInt(EnumStateVals::ENUM_SIZE)>, tuw::StateArray< StateSize-StateNmSize >, tuw::StateArray< StateSize >, tuw::StateArray< asInt(StateWheel::ENUM_SIZE)>, tuw::StateArray< StateNmSize >, tuw::StateNestedVector< SubState >, tuw::StateNestedVector< OneWheelType >, and tuw::StateVector.

void tuw::State::fromEIGENVec ( const Eigen::VectorXd & _vec )

inline

Copies all values from an Eigen vector. The valueSize of the State object has to be equal with the Eigen vector size.

Definition at line 240 of file state.h.

void tuw::State::fromSTLVec ( const std::vector< double > & _vec )

inline

Copies all values from an STL vector. The valueSize of the State object has to be equal with the STL vector size.

Definition at line 226 of file state.h.

static std::vector<double>& tuw::State::minus	(	State &	_lhs,
		State &	_rhs,
		std::vector< double > &	_ans
	)

inlinestatic

Performs substraction. Left and right operand are required to have the same valueSize.

Parameters

_lhs	Left operand
_rhs	Right operand
_ans	Computation result

Returns: Computation result

Definition at line 314 of file state.h.

static Eigen::VectorXd& tuw::State::minus	(	State &	_lhs,
		State &	_rhs,
		Eigen::VectorXd &	_ans
	)

inlinestatic

Performs substraction. Left and right operand are required to have the same valueSize.

Parameters

_lhs	Left operand
_rhs	Right operand
_ans	Computation result

Returns: Computation result

Definition at line 333 of file state.h.

static State& tuw::State::minus	(	State &	_lhs,
		State &	_rhs,
		State &	_ans
	)

inlinestatic

Performs substraction. Answer variable, left operand and right operand are required to have the same valueSize.

Parameters

_lhs	Left operand
_rhs	Right operand
_ans	Computation result

Returns: Computation result

Definition at line 353 of file state.h.

State& tuw::State::operator= ( const State & )

default

State& tuw::State::operator= ( State && )

default

static std::vector<double>& tuw::State::plus	(	State &	_lhs,
		State &	_rhs,
		std::vector< double > &	_ans
	)

inlinestatic

Performs addition. Left and right operand are required to have the same valueSize.

Parameters

_lhs	Left operand
_rhs	Right operand
_ans	Computation result

Returns: Computation result

Definition at line 257 of file state.h.

static Eigen::VectorXd& tuw::State::plus	(	State &	_lhs,
		State &	_rhs,
		Eigen::VectorXd &	_ans
	)

inlinestatic

Performs addition. Left and right operand are required to have the same valueSize.

Parameters

_lhs	Left operand
_rhs	Right operand
_ans	Computation result

Returns: Computation result

Definition at line 276 of file state.h.

static State& tuw::State::plus	(	State &	_lhs,
		State &	_rhs,
		State &	_ans
	)

inlinestatic

Performs addition. Answer variable, left operand and right operand are required to have the same valueSize.

Parameters

_lhs	Left operand
_rhs	Right operand
_ans	Computation result

Returns: Computation result

Definition at line 296 of file state.h.

virtual void tuw::State::resize ( const size_t & _i )

inlinevirtual

Resizes the array.

Reimplemented in tuw::StateNestedVector< SubState >, and tuw::StateNestedVector< OneWheelType >.

Definition at line 186 of file state.h.

virtual StateSPtr& tuw::State::state ( const std::size_t & _i )

inlinevirtual

Access sub-state based on index _i.

Reimplemented in tuw::StateNestedArray< SubState, N >, tuw::StateNestedArray< SubState, asInt(EnumStateVals::ENUM_SIZE)>, tuw::StateNestedSet< NestedStates >, tuw::StateNestedSet< NestedStates... >, tuw::StateNestedVector< SubState >, and tuw::StateNestedVector< OneWheelType >.

Definition at line 192 of file state.h.

virtual size_t tuw::State::stateSize ( ) const

inlinevirtual

Size of the sub-states.

Reimplemented in tuw::StateNestedArray< SubState, N >, tuw::StateNestedArray< SubState, asInt(EnumStateVals::ENUM_SIZE)>, tuw::StateNestedSet< NestedStates >, tuw::StateNestedSet< NestedStates... >, tuw::StateNestedVector< SubState >, and tuw::StateNestedVector< OneWheelType >.

Definition at line 199 of file state.h.

void tuw::State::toEIGENVec ( Eigen::VectorXd & _vec )

inline

Converts all the array values to an Eigen vector.

Definition at line 215 of file state.h.

void tuw::State::toSTLVec ( std::vector< double > & _vec )

inline

Converts all the array values to an STL vector.

Definition at line 205 of file state.h.

virtual void tuw::State::updateSize ( )

inlinevirtual

Performs internal manipulation when any of the underlying arrays are being resized.

Reimplemented in tuw::StateNestedArray< SubState, N >, tuw::StateNestedArray< SubState, asInt(EnumStateVals::ENUM_SIZE)>, tuw::StateNestedSet< NestedStates >, tuw::StateNestedSet< NestedStates... >, tuw::StateNestedVector< SubState >, and tuw::StateNestedVector< OneWheelType >.

Definition at line 181 of file state.h.

virtual double& tuw::State::value ( const std::size_t & _i )

pure virtual

Access state variable based on index _i.

Implemented in tuw::StateSimTemplate< StateSize, StateNmSize >, tuw::StateNestedArray< SubState, N >, tuw::StateNestedArray< SubState, asInt(EnumStateVals::ENUM_SIZE)>, tuw::StateNestedSet< NestedStates >, tuw::StateNestedSet< NestedStates... >, tuw::StateNestedVector< SubState >, tuw::StateNestedVector< OneWheelType >, tuw::StateArray< N >, tuw::StateArray< asInt(EnumStateVals::ENUM_SIZE)>, tuw::StateArray< StateSize-StateNmSize >, tuw::StateArray< StateSize >, tuw::StateArray< asInt(StateWheel::ENUM_SIZE)>, tuw::StateArray< StateNmSize >, tuw::StateVector, and tuw::OptimizationState.

virtual const double& tuw::State::value ( const std::size_t & _i ) const

pure virtual

Const access state variable based on index _i.

Implemented in tuw::StateSimTemplate< StateSize, StateNmSize >, tuw::StateNestedArray< SubState, N >, tuw::StateNestedArray< SubState, asInt(EnumStateVals::ENUM_SIZE)>, tuw::StateNestedSet< NestedStates >, tuw::StateNestedSet< NestedStates... >, tuw::StateNestedVector< SubState >, tuw::StateNestedVector< OneWheelType >, tuw::StateArray< N >, tuw::StateArray< asInt(EnumStateVals::ENUM_SIZE)>, tuw::StateArray< StateSize-StateNmSize >, tuw::StateArray< StateSize >, tuw::StateArray< asInt(StateWheel::ENUM_SIZE)>, tuw::StateArray< StateNmSize >, tuw::StateVector, and tuw::OptimizationState.

virtual size_t tuw::State::valueSize ( ) const

pure virtual

Size of the state variables.

Implemented in tuw::StateSimTemplate< StateSize, StateNmSize >, tuw::StateNestedArray< SubState, N >, tuw::StateNestedArray< SubState, asInt(EnumStateVals::ENUM_SIZE)>, tuw::StateArray< N >, tuw::StateArray< asInt(EnumStateVals::ENUM_SIZE)>, tuw::StateArray< StateSize-StateNmSize >, tuw::StateArray< StateSize >, tuw::StateArray< asInt(StateWheel::ENUM_SIZE)>, tuw::StateArray< StateNmSize >, tuw::StateNestedSet< NestedStates >, tuw::StateNestedSet< NestedStates... >, tuw::StateVector, tuw::StateNestedVector< SubState >, tuw::StateNestedVector< OneWheelType >, and tuw::OptimizationState.

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	os,
		const State &	o
	)

friend

prints the state value to an output stream.

Parameters

os
o

Returns: stream

Definition at line 370 of file state.h.

Member Data Documentation

State* tuw::State::parent_

protected

Pointer to the parent State structure.

Definition at line 392 of file state.h.

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

state.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation