icarus::Vec3Handle< Scalar > Struct Template Reference

Handle for accessing a Vec3 signal as three scalar components. More...

#include <VecHandle.hpp>

Collaboration diagram for icarus::Vec3Handle< Scalar >:

Public Member Functions
Vec3< Scalar >	get () const
	Read all components as a Vec3.
void	set (const Vec3< Scalar > &v)
	Write all components from a Vec3.
bool	valid () const
	Check if all handles are valid.
	operator bool () const
	Check if handle is valid.

Public Attributes
SignalHandle< Scalar >	x
	X component handle.
SignalHandle< Scalar >	y
	Y component handle.
SignalHandle< Scalar >	z
	Z component handle.

Detailed Description

template<typename Scalar>
struct icarus::Vec3Handle< Scalar >

Handle for accessing a Vec3 signal as three scalar components.

Vec3Handle bundles three SignalHandles (x, y, z) and provides convenience methods for reading/writing the entire vector.

Usage:

// Registration (in component Provision)
Vec3<double> position_;
registry.register_output_vec3("position", &position_, "m");
 
// Resolution (in consumer Stage)
Vec3Handle<double> pos = registry.resolve_vec3<double>("position");
 
// Access (in Step)
Vec3<double> p = pos.get();     // Read all components
pos.set(new_position);          // Write all components
double x = *pos.x;              // Read single component

Template Parameters

Scalar

The scalar type (double or casadi::MX)

Member Function Documentation

get()

template<typename Scalar>

Vec3< Scalar > icarus::Vec3Handle< Scalar >::get ( ) const

inlinenodiscard

Read all components as a Vec3.

operator bool()

template<typename Scalar>

icarus::Vec3Handle< Scalar >::operator bool ( ) const

inlineexplicit

Check if handle is valid.

set()

template<typename Scalar>

void icarus::Vec3Handle< Scalar >::set ( const Vec3< Scalar > & v )

inline

Write all components from a Vec3.

valid()

template<typename Scalar>

bool icarus::Vec3Handle< Scalar >::valid ( ) const

inlinenodiscard

Check if all handles are valid.

Member Data Documentation

x

template<typename Scalar>

SignalHandle<Scalar> icarus::Vec3Handle< Scalar >::x

X component handle.

y

template<typename Scalar>

SignalHandle<Scalar> icarus::Vec3Handle< Scalar >::y

Y component handle.

z

template<typename Scalar>

SignalHandle<Scalar> icarus::Vec3Handle< Scalar >::z

Z component handle.

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

• include/icarus/signal/VecHandle.hpp