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27 #include <RobotAPI/interface/core/PoseBase.h>
32 #include <Eigen/Geometry>
45 const Eigen::IOFormat
ArmarXEigenFormat(Eigen::StreamPrecision, Eigen::DontAlignCols,
" ",
"\n",
"",
"");
51 class Vector2 :
virtual public Vector2Base
55 Vector2(
const Eigen::Vector2f&);
58 void operator=(
const Eigen::Vector2f& ves);
60 virtual Eigen::Vector2f
toEigen()
const;
67 VariantDataClassPtr
clone(
const Ice::Current& = Ice::emptyCurrent)
const override
71 std::string
output(
const Ice::Current&
c = Ice::emptyCurrent)
const override;
76 bool validate(
const Ice::Current& = Ice::emptyCurrent)
override
83 stream <<
"Vector2: " << std::endl << rhs.
output() << std::endl;
88 void serialize(
const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent)
const override;
89 void deserialize(
const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent)
override;
102 virtual public Vector3Base
106 Vector3(
const Eigen::Vector3f&);
110 void operator=(
const Eigen::Vector3f& vec);
112 virtual Eigen::Vector3f
toEigen()
const;
117 return this->
clone();
119 VariantDataClassPtr
clone(
const Ice::Current&
c = Ice::emptyCurrent)
const override
123 std::string
output(
const Ice::Current&
c = Ice::emptyCurrent)
const override;
128 bool validate(
const Ice::Current& = Ice::emptyCurrent)
override
136 stream <<
"Vector3: " << std::endl << rhs.
output() << std::endl;
141 void serialize(
const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent)
const override;
142 void deserialize(
const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent)
override;
155 virtual public QuaternionBase
175 return this->
clone();
177 VariantDataClassPtr
clone(
const Ice::Current& = Ice::emptyCurrent)
const override
181 std::string
output(
const Ice::Current&
c = Ice::emptyCurrent)
const override;
186 bool validate(
const Ice::Current& = Ice::emptyCurrent)
override
194 stream <<
"Quaternion: " << std::endl << rhs.
output() << std::endl;
199 void serialize(
const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent)
const override;
200 void deserialize(
const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent)
override;
217 virtual public PoseBase
224 Pose(
const armarx::Vector3BasePtr pos,
const armarx::QuaternionBasePtr ori);
233 return this->
clone();
235 VariantDataClassPtr
clone(
const Ice::Current& = Ice::emptyCurrent)
const override
237 return new Pose(*
this);
239 std::string
output(
const Ice::Current& = Ice::emptyCurrent)
const override;
244 bool validate(
const Ice::Current& = Ice::emptyCurrent)
override
251 stream <<
"Pose: " << std::endl << rhs.
output() << std::endl;
256 void serialize(
const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent)
const override;
257 void deserialize(
const armarx::ObjectSerializerBasePtr& serializer, const ::Ice::Current& = Ice::emptyCurrent)
override;
274 void fromIce(
const Vector3BasePtr& ice, Eigen::Vector3f& vector);
279 Eigen::Vector3f
fromIce(
const Vector3BasePtr& position);
283 void toIce(Vector3BasePtr& ice,
const Eigen::Vector3f& vector);
296 extern template class ::IceInternal::Handle< ::armarx::Pose>;
297 extern template class ::IceInternal::Handle< ::armarx::Vector2>;
298 extern template class ::IceInternal::Handle< ::armarx::Vector3>;
299 extern template class ::IceInternal::Handle< ::armarx::Quaternion>;
VariantDataClassPtr clone(const Ice::Current &=Ice::emptyCurrent) const override
VariantDataClassPtr clone(const Ice::Current &c=Ice::emptyCurrent) const override
const VariantTypeId Float
VariantDataClassPtr clone(const Ice::Current &=Ice::emptyCurrent) const override
VariantTypeId getType(const Ice::Current &=Ice::emptyCurrent) const override
Eigen::Quaternionf toEigenQuaternion() const
std::string output(const Ice::Current &c=Ice::emptyCurrent) const override
VariantTypeId getType(const Ice::Current &=Ice::emptyCurrent) const override
std::string output(const Ice::Current &c=Ice::emptyCurrent) const override
void operator=(const Eigen::Vector3f &vec)
friend std::ostream & operator<<(std::ostream &stream, const Quaternion &rhs)
Ice::ObjectPtr ice_clone() const override
void serialize(const armarx::ObjectSerializerBasePtr &serializer, const ::Ice::Current &=Ice::emptyCurrent) const override
const VariantTypeId Vector3
void operator=(const Eigen::Vector2f &ves)
void deserialize(const armarx::ObjectSerializerBasePtr &serializer, const ::Ice::Current &=Ice::emptyCurrent) override
const VariantTypeId Vector2
bool validate(const Ice::Current &=Ice::emptyCurrent) override
bool validate(const Ice::Current &=Ice::emptyCurrent) override
void deserialize(const armarx::ObjectSerializerBasePtr &serializer, const ::Ice::Current &=Ice::emptyCurrent) override
friend std::ostream & operator<<(std::ostream &stream, const Vector2 &rhs)
VariantTypeId getType(const Ice::Current &=Ice::emptyCurrent) const override
const VariantTypeId Quaternion
Pose & operator=(const Pose &)=default
const Eigen::IOFormat ArmarXEigenFormat(Eigen::StreamPrecision, Eigen::DontAlignCols, " ", "\n", "", "")
Eigen::Matrix3f slerp(float, const Eigen::Matrix3f &)
void toIce(std::map< IceKeyT, IceValueT > &iceMap, const boost::container::flat_map< CppKeyT, CppValueT > &cppMap)
VariantTypeId getType(const Ice::Current &=Ice::emptyCurrent) const override
friend std::ostream & operator<<(std::ostream &stream, const Pose &rhs)
virtual Eigen::Matrix4f toEigen() const
void serialize(const armarx::ObjectSerializerBasePtr &serializer, const ::Ice::Current &=Ice::emptyCurrent) const override
bool validate(const Ice::Current &=Ice::emptyCurrent) override
Quaternion< float, 0 > Quaternionf
void deserialize(const armarx::ObjectSerializerBasePtr &serializer, const ::Ice::Current &=Ice::emptyCurrent) override
Vertex source(const detail::edge_base< Directed, Vertex > &e, const PCG &)
Ice::ObjectPtr ice_clone() const override
Eigen::Matrix3f toEigen() const
void fromIce(const std::map< IceKeyT, IceValueT > &iceMap, boost::container::flat_map< CppKeyT, CppValueT > &cppMap)
std::string output(const Ice::Current &c=Ice::emptyCurrent) const override
MatrixXX< 3, 3, float > Matrix3f
MatrixXX< 4, 4, float > Matrix4f
bool validate(const Ice::Current &=Ice::emptyCurrent) override
void deserialize(const armarx::ObjectSerializerBasePtr &serializer, const ::Ice::Current &=Ice::emptyCurrent) override
virtual Eigen::Vector3f toEigen() const
friend std::ostream & operator<<(std::ostream &stream, const Vector3 &rhs)
VariantDataClassPtr clone(const Ice::Current &=Ice::emptyCurrent) const override
virtual Eigen::Vector2f toEigen() const
void ice_postUnmarshal() override
Ice::ObjectPtr ice_clone() const override
void serialize(const armarx::ObjectSerializerBasePtr &serializer, const ::Ice::Current &=Ice::emptyCurrent) const override
std::shared_ptr< Object > ObjectPtr
Quaternion()
Construct an identity quaternion.
std::string output(const Ice::Current &=Ice::emptyCurrent) const override
Ice::ObjectPtr ice_clone() const override
This file offers overloads of toIce() and fromIce() functions for STL container types.
static VariantTypeId addTypeName(const std::string &typeName)
Register a new type for the use in a Variant.
void serialize(const armarx::ObjectSerializerBasePtr &serializer, const ::Ice::Current &=Ice::emptyCurrent) const override