For internal use. More...

#include <ReferenceFrame.h>

Inheritance diagram for gams::pose::ReferenceFrameVersion:

Public Member Functions
template<typename P , typename std::enable_if< supports_transform_to< P >::value, void * >::type = nullptr>
	ReferenceFrameVersion (const ReferenceFrameType *type, P &&origin, uint64_t timestamp=ETERNAL, bool temp=false)
	Constructor from a type, an origin, and optional timestamp. More...

template<typename P , typename std::enable_if< supports_transform_to< P >::value, void * >::type = nullptr>
	ReferenceFrameVersion (const ReferenceFrameType *type, std::string name, P &&origin, uint64_t timestamp=ETERNAL, bool temp=false)
	Constructor from a type, id, an origin, and optional timestamp. More...

template<typename P , typename std::enable_if< supports_transform_to< P >::value, void * >::type = nullptr>
	ReferenceFrameVersion (P &&origin, uint64_t timestamp=ETERNAL, bool temp=false)
	Constructor from an origin, and optional timestamp. More...

template<typename P , typename std::enable_if< supports_transform_to< P >::value, void * >::type = nullptr>
	ReferenceFrameVersion (std::shared_ptr< ReferenceFrameIdentity > ident, const ReferenceFrameType *type, P &&origin, uint64_t timestamp=ETERNAL, bool temp=false)
	Constructor from an existing ReferenceFrameIdentity, an origin, and optional timestamp. More...

template<typename P , typename std::enable_if< supports_transform_to< P >::value, void * >::type = nullptr>
	ReferenceFrameVersion (std::shared_ptr< ReferenceFrameIdentity > ident, P &&origin, uint64_t timestamp=ETERNAL, bool temp=false)
	Constructor from an existing ReferenceFrameIdentity, an origin, and optional timestamp. More...

template<typename P , typename std::enable_if< supports_transform_to< P >::value, void * >::type = nullptr>
	ReferenceFrameVersion (std::string name, P &&origin, uint64_t timestamp=ETERNAL, bool temp=false)
	Constructor from a id, an origin, and optional timestamp. More...

bool	has_id () const
	Does this frame have an ID? Frames gain an ID either at construction, or lazily as needed (by having the id() method, or save* methods called). More...

const std::string &	id () const
	Get the ID string of this frame. More...

const std::string *	id_ptr () const
	Get the ID string of this frame. More...

const ReferenceFrameIdentity &	ident () const
	Get the ReferenceFrameIdentity object associated with this frame, creating one with random ID if none exists. More...

ReferenceFrame	interpolate (const ReferenceFrame &other, ReferenceFrame parent, uint64_t time) const
	Interpolate a frame between the given frame; use the given parent. More...

bool	interpolated () const
	Returns true if this frame was interpolated from two stored frames. More...

std::string	key (const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT) const
	Returns the key that save() will use to store this frame. More...

ReferenceFrame	move (const Position &new_origin, uint64_t timestamp) const
	Creates a new ReferenceFrame with modified origin and timestamp. More...

ReferenceFrame	move (Position new_origin) const
	Creates a new ReferenceFrame with modified origin. More...

Pose &	mut_origin ()
	Gets the origin of this Frame. More...

const char *	name () const
	Returns a human-readable name for the reference frame type. More...

bool	operator!= (const ReferenceFrame &other) const
	Inequality operator. More...

bool	operator!= (const ReferenceFrameVersion &other) const
	Inequality operator. More...

bool	operator== (const ReferenceFrame &other) const
	Equality operator. More...

bool	operator== (const ReferenceFrameVersion &other) const
	Equality operator. More...

ReferenceFrame	orient (const Orientation &new_origin, uint64_t timestamp) const
	Creates a new ReferenceFrame with modified origin and timestamp. More...

ReferenceFrame	orient (Orientation new_origin) const
	Creates a new ReferenceFrame with modified origin. More...

const Pose &	origin () const
	Gets the origin of this Frame. More...

ReferenceFrame	origin_frame () const
	Gets the parent frame (the one the origin is within). More...

ReferenceFrame	pose (const Pose &new_origin, uint64_t timestamp) const
	Creates a new ReferenceFrame with modified origin and timestamp. More...

ReferenceFrame	pose (Pose new_origin) const
	Creates a new ReferenceFrame with modified origin. More...

void	save (madara::knowledge::KnowledgeBase &kb, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT) const
	Save this ReferenceFrame to the knowledge base, The saved frames will be marked with their timestamp for later retrieval. More...

void	save (madara::knowledge::KnowledgeBase &kb, uint64_t expiry, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT) const
	Save this ReferenceFrame to the knowledge base, The saved frames will be marked with their timestamp for later retrieval. More...

void	save_as (madara::knowledge::KnowledgeBase &kb, std::string key, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT) const
	Save this ReferenceFrame to the knowledge base, with a specific key value. More...

void	save_as (madara::knowledge::KnowledgeBase &kb, std::string key, uint64_t expiry, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT) const
	Save this ReferenceFrame to the knowledge base, with a specific key value. More...

bool	temp () const
	Returns true if this frame is a temporary; one invented to serve as root of a frame tree. More...

uint64_t	timestamp () const
	Get the timestamp assigned to this frame. More...

ReferenceFrame	timestamp (uint64_t timestamp) const
	Clone the this frame, but with new timestamp. More...

const ReferenceFrameType *	type () const
	Retrieve the frame type object for this frame. More...

Static Public Member Functions
static bool	check_is_connected (const std::vector< ReferenceFrame > &frames)

static const std::string &	default_prefix ()

template<typename Container >
static uint64_t	latest_common_timestamp (madara::knowledge::KnowledgeBase &kb, const Container &ids, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT)
	Get the latest available timestamp in the knowledge base common to all the given ids. More...

template<typename InputIterator >
static uint64_t	latest_common_timestamp (madara::knowledge::KnowledgeBase &kb, InputIterator begin, InputIterator end, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT)
	Get the latest available timestamp in the knowledge base common to all the given ids. More...

static uint64_t	latest_timestamp (madara::knowledge::KnowledgeBase &kb, const std::string &id, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT)
	Get the latest available timestamp in the knowledge base for the given id. More...

static ReferenceFrame	load (madara::knowledge::KnowledgeBase &kb, const std::string &id, uint64_t timestamp=ETERNAL, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT, bool throw_on_errors=true, ReferenceFrameArena *arena=nullptr)
	Load a single ReferenceFrame, by ID and timestamp, interpolated if applicable. More...

static ReferenceFrame	load_exact (madara::knowledge::KnowledgeBase &kb, const std::string &id, uint64_t timestamp=ETERNAL, uint64_t parent_timestamp=ETERNAL, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT, bool throw_on_errors=true, ReferenceFrameArena *arena=nullptr)
	Load a single ReferenceFrame, by ID and timestamp. More...

template<typename Container >
static std::vector< ReferenceFrame >	load_tree (madara::knowledge::KnowledgeBase &kb, const Container &ids, uint64_t timestamp=ETERNAL, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT, ReferenceFrameArena *arena=nullptr)
	Load ReferenceFrames, by ID, and their common ancestors. More...

template<typename ForwardIterator >
static std::vector< ReferenceFrame >	load_tree (madara::knowledge::KnowledgeBase &kb, ForwardIterator begin, ForwardIterator end, uint64_t timestamp=ETERNAL, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT, ReferenceFrameArena *arena=nullptr)
	Load ReferenceFrames, by ID, and their common ancestors. More...

static void	throw_if_not_connected (const std::vector< ReferenceFrame > &frames)

Static Public Attributes
static const uint64_t	ETERNAL = ReferenceFrameIdentity::ETERNAL

static const uint64_t	TEMP = ReferenceFrameIdentity::TEMP

Private Types
using	ancestor_elem = std::pair< std::string, uint64_t >

using	ancestor_vec = std::vector< ancestor_elem >

Private Member Functions
bool	check_consistent () const

Static Private Member Functions
static uint64_t	find_common_timestamp_to_first_ancestor (const std::vector< ancestor_vec > &stamps)

static std::pair< uint64_t, uint64_t >	find_nearest_neighbors (madara::knowledge::KnowledgeBase &kb, const std::string &id, uint64_t timestamp, const FrameEvalSettings &settings)

static ancestor_vec	get_ancestry (madara::knowledge::KnowledgeBase &kb, std::string name, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT)

template<typename T >
static uint64_t	init_timestamp (uint64_t given, const T &p)

static ReferenceFrame	load_exact_internal (madara::knowledge::KnowledgeBase &kb, const std::string &id, uint64_t timestamp=ETERNAL, uint64_t parent_timestamp=ETERNAL, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT, bool throw_on_errors=true, ReferenceFrameArena *arena=nullptr)
	Load a single ReferenceFrame, by ID and timestamp. More...

Private Attributes
std::shared_ptr< ReferenceFrameIdentity >	ident_

bool	interpolated_ = false

Pose	origin_

bool	temp_ = false

uint64_t	timestamp_ = ETERNAL

const ReferenceFrameType *	type_

Friends
template<typename CoordType >
class	Coordinate
	New coordinate types which are frame-dependant can inherit from this class. More...

Detailed Description

For internal use.

Use ReferenceFrame or FrameStore instead.

Represents a specific frame version; internal implementation of ReferenceFrame, behind a shared_ptr.

Definition at line 335 of file ReferenceFrame.h.

Member Typedef Documentation

◆ ancestor_elem

using gams::pose::ReferenceFrameVersion::ancestor_elem = std::pair<std::string, uint64_t>

private

Definition at line 853 of file ReferenceFrame.h.

◆ ancestor_vec

using gams::pose::ReferenceFrameVersion::ancestor_vec = std::vector<ancestor_elem>

private

Definition at line 854 of file ReferenceFrame.h.

Constructor & Destructor Documentation

◆ ReferenceFrameVersion() [1/6]

template<typename P , typename std::enable_if< supports_transform_to::value, void * >::type = nullptr>

gams::pose::ReferenceFrameVersion::ReferenceFrameVersion	(	P &&	origin,
		uint64_t	timestamp = `ETERNAL`,
		bool	temp = `false`
	)

inlineexplicit

Constructor from an origin, and optional timestamp.

Will be constructed with Cartesian type, and a random id.

Template Parameters

a	Coordinate type convertible to Pose

Parameters

origin	the origin of this frame, relative to another frame.
timestamp	the timestamp of this frame. By default, will be treated as "always most current".

Definition at line 373 of file ReferenceFrame.h.

◆ ReferenceFrameVersion() [2/6]

template<typename P , typename std::enable_if< supports_transform_to::value, void * >::type = nullptr>

gams::pose::ReferenceFrameVersion::ReferenceFrameVersion	(	const ReferenceFrameType *	type,
		P &&	origin,
		uint64_t	timestamp = `ETERNAL`,
		bool	temp = `false`
	)

inline

Constructor from a type, an origin, and optional timestamp.

Will be constructed with a random id.

Template Parameters

a	Coordinate type convertible to Pose

Parameters

type	a pointer to a ReferenceFrameType struct; typically, either Cartesian, or GPS.
origin	the origin of this frame, relative to another frame.
timestamp	the timestamp of this frame. By default, will be treated as "always most current".

Definition at line 395 of file ReferenceFrame.h.

◆ ReferenceFrameVersion() [3/6]

template<typename P , typename std::enable_if< supports_transform_to::value, void * >::type = nullptr>

gams::pose::ReferenceFrameVersion::ReferenceFrameVersion	(	std::string	name,
		P &&	origin,
		uint64_t	timestamp = `ETERNAL`,
		bool	temp = `false`
	)

inline

Constructor from a id, an origin, and optional timestamp.

Will be constructed with Cartesian type.

Template Parameters

a	Coordinate type convertible to Pose

Parameters

id	a string identifier for this frame.
origin	the origin of this frame, relative to another frame.
timestamp	the timestamp of this frame. By default, will be treated as "always most current".

Definition at line 416 of file ReferenceFrame.h.

◆ ReferenceFrameVersion() [4/6]

template<typename P , typename std::enable_if< supports_transform_to::value, void * >::type = nullptr>

gams::pose::ReferenceFrameVersion::ReferenceFrameVersion	(	const ReferenceFrameType *	type,
		std::string	name,
		P &&	origin,
		uint64_t	timestamp = `ETERNAL`,
		bool	temp = `false`
	)

inline

Constructor from a type, id, an origin, and optional timestamp.

Template Parameters

a	Coordinate type convertible to Pose

Parameters

type	a pointer to a ReferenceFrameType struct; typically, either Cartesian, or GPS.
id	a string identifier for this frame.
origin	the origin of this frame, relative to another frame.
timestamp	the timestamp of this frame. By default, will be treated as "always most current".

Definition at line 439 of file ReferenceFrame.h.

◆ ReferenceFrameVersion() [5/6]

template<typename P , typename std::enable_if< supports_transform_to::value, void * >::type = nullptr>

gams::pose::ReferenceFrameVersion::ReferenceFrameVersion	(	std::shared_ptr< ReferenceFrameIdentity >	ident,
		const ReferenceFrameType *	type,
		P &&	origin,
		uint64_t	timestamp = `ETERNAL`,
		bool	temp = `false`
	)

inline

Constructor from an existing ReferenceFrameIdentity, an origin, and optional timestamp.

Typical users should not use this constructor.

Template Parameters

a	Coordinate type convertible to Pose

Parameters

ident	shared_ptr to a ReferenceFrameIdentity, which holds type and id information.
id	a string identifier for this frame.
origin	the origin of this frame, relative to another frame.
timestamp	the timestamp of this frame. By default, will be treated as "always most current".

Definition at line 464 of file ReferenceFrame.h.

◆ ReferenceFrameVersion() [6/6]

template<typename P , typename std::enable_if< supports_transform_to::value, void * >::type = nullptr>

gams::pose::ReferenceFrameVersion::ReferenceFrameVersion	(	std::shared_ptr< ReferenceFrameIdentity >	ident,
		P &&	origin,
		uint64_t	timestamp = `ETERNAL`,
		bool	temp = `false`
	)

inline

Constructor from an existing ReferenceFrameIdentity, an origin, and optional timestamp.

Typical users should not use this constructor.

Template Parameters

a	Coordinate type convertible to Pose

Parameters

ident	shared_ptr to a ReferenceFrameIdentity, which holds type and id information.
id	a string identifier for this frame.
origin	the origin of this frame, relative to another frame.
timestamp	the timestamp of this frame. By default, will be treated as "always most current".

Definition at line 491 of file ReferenceFrame.h.

Member Function Documentation

◆ check_consistent()

bool gams::pose::ReferenceFrameVersion::check_consistent ( ) const

private

◆ check_is_connected()

static bool gams::pose::ReferenceFrameVersion::check_is_connected ( const std::vector< ReferenceFrame > & frames )

static

◆ default_prefix()

static const std::string& gams::pose::ReferenceFrameVersion::default_prefix ( )

inlinestatic

Definition at line 726 of file ReferenceFrame.h.

◆ find_common_timestamp_to_first_ancestor()

static uint64_t gams::pose::ReferenceFrameVersion::find_common_timestamp_to_first_ancestor ( const std::vector< ancestor_vec > & stamps )

staticprivate

◆ find_nearest_neighbors()

static std::pair<uint64_t, uint64_t> gams::pose::ReferenceFrameVersion::find_nearest_neighbors	(	madara::knowledge::KnowledgeBase &	kb,
		const std::string &	id,
		uint64_t	timestamp,
		const FrameEvalSettings &	settings
	)

staticprivate

◆ get_ancestry()

static ancestor_vec gams::pose::ReferenceFrameVersion::get_ancestry	(	madara::knowledge::KnowledgeBase &	kb,
		std::string	name,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`
	)

staticprivate

◆ has_id()

bool gams::pose::ReferenceFrameVersion::has_id ( ) const

inline

Does this frame have an ID? Frames gain an ID either at construction, or lazily as needed (by having the id() method, or save* methods called).

This method can be useful to prevent, e.g., logging code from incurring the overhead of generating an ID for an ephemeral frame.

Returns: true if this frame already has an ID, false if not

Definition at line 677 of file ReferenceFrame.h.

◆ id()

const std::string& gams::pose::ReferenceFrameVersion::id ( ) const

inline

Get the ID string of this frame.

Generates a random ID for this frame if it doesn't already have one. This ID will not change until this frame is destructed.

Definition at line 665 of file ReferenceFrame.h.

◆ id_ptr()

const std::string* gams::pose::ReferenceFrameVersion::id_ptr ( ) const

inline

Get the ID string of this frame.

Will not generate an ID if this frame doesn't have one. In that case, returns nullptr.

Returns: nullptr has_id() is false; otherwise, a pointer to the result of id()

Definition at line 688 of file ReferenceFrame.h.

◆ ident()

const ReferenceFrameIdentity& gams::pose::ReferenceFrameVersion::ident ( ) const

inline

Get the ReferenceFrameIdentity object associated with this frame, creating one with random ID if none exists.

Definition at line 503 of file ReferenceFrame.h.

◆ init_timestamp()

template<typename T >

static uint64_t gams::pose::ReferenceFrameVersion::init_timestamp	(	uint64_t	given,
		const T &	p
	)

inlinestaticprivate

Definition at line 348 of file ReferenceFrame.h.

◆ interpolate()

ReferenceFrame gams::pose::ReferenceFrameVersion::interpolate	(	const ReferenceFrame &	other,
		ReferenceFrame	parent,
		uint64_t	time
	)		const

inline

Interpolate a frame between the given frame; use the given parent.

Note: no sanity checking is done. Ensure that parent has a compatible timestamp, and that this and other are the same frame at different times.

Parameters

other	the other frame to interpolate towards.
parent	the parent the returned frame will have.
time	the timestamp to interpolate at.

Returns: the interpolated frame.

Definition at line 1071 of file ReferenceFrame.h.

◆ interpolated()

bool gams::pose::ReferenceFrameVersion::interpolated ( ) const

inline

Returns true if this frame was interpolated from two stored frames.

If this frame is itself stored, it will no longer be considered as interpolated.

Definition at line 714 of file ReferenceFrame.h.

◆ key()

std::string gams::pose::ReferenceFrameVersion::key ( const FrameEvalSettings & settings = FrameEvalSettings::DEFAULT ) const

inline

Returns the key that save() will use to store this frame.

Definition at line 733 of file ReferenceFrame.h.

◆ latest_common_timestamp() [1/2]

template<typename Container >

static uint64_t gams::pose::ReferenceFrameVersion::latest_common_timestamp	(	madara::knowledge::KnowledgeBase &	kb,
		const Container &	ids,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`
	)

inlinestatic

Get the latest available timestamp in the knowledge base common to all the given ids.

Will return ETERNAL if no common timestamp is available.

Parameters

kb	the knowledge base to search
container	container of std::string

Template Parameters

Container a container type (such as std::vector)

Returns: the latest timestamp for the id in kb. If timestamp ETERNAL is available, that will be returned.

Definition at line 935 of file ReferenceFrame.h.

◆ latest_common_timestamp() [2/2]

template<typename InputIterator >

static uint64_t gams::pose::ReferenceFrameVersion::latest_common_timestamp	(	madara::knowledge::KnowledgeBase &	kb,
		InputIterator	begin,
		InputIterator	end,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`
	)

inlinestatic

Get the latest available timestamp in the knowledge base common to all the given ids.

Will return ETERNAL if no common timestamp is available.

Parameters

kb	the knowledge base to search
begin	iterator which dereferences to std::string
end	ending iterator

Template Parameters

InputIterator an InputIterator type, such as std::vector::iterator

Returns: the latest timestamp for the id in kb. If timestamp ETERNAL is available, that will be returned.

Definition at line 883 of file ReferenceFrame.h.

◆ latest_timestamp()

static uint64_t gams::pose::ReferenceFrameVersion::latest_timestamp	(	madara::knowledge::KnowledgeBase &	kb,
		const std::string &	id,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`
	)

static

Get the latest available timestamp in the knowledge base for the given id.

Parameters

kb	the knowledge base to search
id	the id to search for

Returns: the latest timestamp for the id in kb. If timestamp ETERNAL is available, that will be returned.

◆ load()

static ReferenceFrame gams::pose::ReferenceFrameVersion::load	(	madara::knowledge::KnowledgeBase &	kb,
		const std::string &	id,
		uint64_t	timestamp = `ETERNAL`,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`,
		bool	throw_on_errors = `true`,
		ReferenceFrameArena *	arena = `nullptr`
	)

static

Load a single ReferenceFrame, by ID and timestamp, interpolated if applicable.

Parameters

id	the ID of the frame to load
timestamp	if ETERNAL, gets the latest frame (no interpolation) Otherwise, gets the frame at a specified timestamp, interpolated necessary.

Returns: the loaded ReferenceFrame, or an invalid frame if none exists.

◆ load_exact()

static ReferenceFrame gams::pose::ReferenceFrameVersion::load_exact	(	madara::knowledge::KnowledgeBase &	kb,
		const std::string &	id,
		uint64_t	timestamp = `ETERNAL`,
		uint64_t	parent_timestamp = `ETERNAL`,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`,
		bool	throw_on_errors = `true`,
		ReferenceFrameArena *	arena = `nullptr`
	)

static

Load a single ReferenceFrame, by ID and timestamp.

Will not interpolate. Returns an invalid frame if none exists with given ID and timestamp.

Parameters

id	the ID of the frame to load
timestamp	of frame to load. ETERNAL is matched exactly; it will only return a frame if one with that timestamp exists.
parent_timsteamp	timestamp of parent to load. Parent is loaded using load()

Returns: the loaded ReferenceFrame, or an invalid frame if none exists.

◆ load_exact_internal()

static ReferenceFrame gams::pose::ReferenceFrameVersion::load_exact_internal	(	madara::knowledge::KnowledgeBase &	kb,
		const std::string &	id,
		uint64_t	timestamp = `ETERNAL`,
		uint64_t	parent_timestamp = `ETERNAL`,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`,
		bool	throw_on_errors = `true`,
		ReferenceFrameArena *	arena = `nullptr`
	)

staticprivate

Load a single ReferenceFrame, by ID and timestamp.

Will not interpolate. Returns an invalid frame if none exists with given ID and timestamp.

Parameters

id	the ID of the frame to load
timestamp	of frame to load. ETERNAL is matched exactly; it will only return a frame if one with that timestamp exists.
parent_timsteamp	timestamp of parent to load. Parent is loaded using load()

Returns: the loaded ReferenceFrame, or an invalid frame if none exists.

◆ load_tree() [1/2]

template<typename Container >

static std::vector<ReferenceFrame> gams::pose::ReferenceFrameVersion::load_tree	(	madara::knowledge::KnowledgeBase &	kb,
		const Container &	ids,
		uint64_t	timestamp = `ETERNAL`,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`,
		ReferenceFrameArena *	arena = `nullptr`
	)

inlinestatic

Load ReferenceFrames, by ID, and their common ancestors.

Will interpolate frames to ensure the returned frames all have a common timestamp.

Template Parameters

a	Container, supporting cbegin() and cend(), of item type std::string

Parameters

ids	a Container of ids
timestamp	if ETERNAL, the latest possible tree will be returned. Otherwise, the specified timestamp will be returned.

Returns: a vector of ReferenceFrames, each corresponding to the input IDs, in the same order. If the timestamp specified cannot be satisfied, returns an empty vector.

Definition at line 1025 of file ReferenceFrame.h.

◆ load_tree() [2/2]

template<typename ForwardIterator >

static std::vector<ReferenceFrame> gams::pose::ReferenceFrameVersion::load_tree	(	madara::knowledge::KnowledgeBase &	kb,
		ForwardIterator	begin,
		ForwardIterator	end,
		uint64_t	timestamp = `ETERNAL`,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`,
		ReferenceFrameArena *	arena = `nullptr`
	)

inlinestatic

Load ReferenceFrames, by ID, and their common ancestors.

Will interpolate frames to ensure the returned frames all have a common timestamp.

Template Parameters

a	ForwardIterator, of item type std::string

Parameters

begin	beginning iterator
end	ending iterator
timestamp	if ETERNAL, the latest possible tree will be returned. Otherwise, the specified timestamp will be returned.

Returns: a vector of ReferenceFrames, each corresponding to the input IDs, in the same order. If the timestamp specified cannot be satisfied, returns an empty vector.

Definition at line 963 of file ReferenceFrame.h.

◆ move() [1/2]

ReferenceFrame gams::pose::ReferenceFrameVersion::move	(	const Position &	new_origin,
		uint64_t	timestamp
	)		const

inline

Creates a new ReferenceFrame with modified origin and timestamp.

Parameters

new_origin	the new origin
timestamp	the new timestamp

Returns: the new ReferenceFrame with new origin and timestamp

Definition at line 590 of file ReferenceFrame.h.

◆ move() [2/2]

ReferenceFrame gams::pose::ReferenceFrameVersion::move ( Position new_origin ) const

inline

Creates a new ReferenceFrame with modified origin.

Parameters

new_origin the new origin

Returns: the new ReferenceFrame with new origin

Definition at line 557 of file ReferenceFrame.h.

◆ mut_origin()

Pose& gams::pose::ReferenceFrameVersion::mut_origin ( )

inline

Gets the origin of this Frame.

Returns: the Pose which is the origin within this frame's parent, or, a Pose within this own frame, with all zeros for coordinates, if this frame has no parent.

Definition at line 537 of file ReferenceFrame.h.

◆ name()

const char* gams::pose::ReferenceFrameVersion::name ( ) const

inline

Returns a human-readable name for the reference frame type.

Returns: the name reference frame type (e.g., GPS, Cartesian)

Definition at line 656 of file ReferenceFrame.h.

◆ operator!=() [1/2]

bool gams::pose::ReferenceFrameVersion::operator!= ( const ReferenceFrame & other ) const

Inequality operator.

Parameters

other the frame to compare to.

Returns: false if both frames are the same object (i.e., same address). Otherwise, frames are not considered equal (returns true).

◆ operator!=() [2/2]

bool gams::pose::ReferenceFrameVersion::operator!= ( const ReferenceFrameVersion & other ) const

Inequality operator.

Parameters

other the frame to compare to.

Returns: false if both frames are the same object (i.e., same address). Otherwise, frames are not considered equal (returns true).

◆ operator==() [1/2]

bool gams::pose::ReferenceFrameVersion::operator== ( const ReferenceFrame & other ) const

Equality operator.

Parameters

other the frame to compare to.

Returns: true if both frames are the same object (i.e., same address). Otherwise, frames are not considered equal (returns false).

◆ operator==() [2/2]

bool gams::pose::ReferenceFrameVersion::operator== ( const ReferenceFrameVersion & other ) const

Equality operator.

Parameters

other the frame to compare to.

Returns: true if both frames are the same object (i.e., same address). Otherwise, frames are not considered equal (returns false).

◆ orient() [1/2]

ReferenceFrame gams::pose::ReferenceFrameVersion::orient	(	const Orientation &	new_origin,
		uint64_t	timestamp
	)		const

inline

Creates a new ReferenceFrame with modified origin and timestamp.

Parameters

new_origin	the new origin
timestamp	the new timestamp

Returns: the new ReferenceFrame with new origin and timestamp

Definition at line 602 of file ReferenceFrame.h.

◆ orient() [2/2]

ReferenceFrame gams::pose::ReferenceFrameVersion::orient ( Orientation new_origin ) const

inline

Creates a new ReferenceFrame with modified origin.

Parameters

new_origin the new origin

Returns: the new ReferenceFrame with new origin

Definition at line 567 of file ReferenceFrame.h.

◆ origin()

const Pose& gams::pose::ReferenceFrameVersion::origin ( ) const

inline

Gets the origin of this Frame.

Returns: the Pose which is the origin within this frame's parent, or, a Pose within this own frame, with all zeros for coordinates, if this frame has no parent.

Definition at line 526 of file ReferenceFrame.h.

◆ origin_frame()

ReferenceFrame gams::pose::ReferenceFrameVersion::origin_frame ( ) const

inline

Gets the parent frame (the one the origin is within).

Will be *this if no parent frame.

Definition at line 611 of file ReferenceFrame.h.

◆ pose() [1/2]

ReferenceFrame gams::pose::ReferenceFrameVersion::pose	(	const Pose &	new_origin,
		uint64_t	timestamp
	)		const

inline

Creates a new ReferenceFrame with modified origin and timestamp.

Parameters

new_origin	the new origin
timestamp	the new timestamp

Returns: the new ReferenceFrame with new origin and timestamp

Definition at line 578 of file ReferenceFrame.h.

◆ pose() [2/2]

ReferenceFrame gams::pose::ReferenceFrameVersion::pose ( Pose new_origin ) const

inline

Creates a new ReferenceFrame with modified origin.

Parameters

new_origin the new origin

Returns: the new ReferenceFrame with new origin

Definition at line 547 of file ReferenceFrame.h.

◆ save() [1/2]

void gams::pose::ReferenceFrameVersion::save	(	madara::knowledge::KnowledgeBase &	kb,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`
	)		const

inline

Save this ReferenceFrame to the knowledge base, The saved frames will be marked with their timestamp for later retrieval.

If timestamp is ETERNAL, it will always be treated as the most recent frame.

Parameters

kb	the KnowledgeBase to store into

Definition at line 763 of file ReferenceFrame.h.

◆ save() [2/2]

void gams::pose::ReferenceFrameVersion::save	(	madara::knowledge::KnowledgeBase &	kb,
		uint64_t	expiry,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`
	)		const

inline

Save this ReferenceFrame to the knowledge base, The saved frames will be marked with their timestamp for later retrieval.

If timestamp is ETERNAL, it will always be treated as the most recent frame.

Parameters

kb	the KnowledgeBase to store into
expiry	use this expiry time instead of the one set on this ID

Definition at line 748 of file ReferenceFrame.h.

◆ save_as() [1/2]

void gams::pose::ReferenceFrameVersion::save_as	(	madara::knowledge::KnowledgeBase &	kb,
		std::string	key,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`
	)		const

inline

Save this ReferenceFrame to the knowledge base, with a specific key value.

Parameters

kb	the KnowledgeBase to save to
key	a key prefix to save with

Definition at line 1053 of file ReferenceFrame.h.

◆ save_as() [2/2]

void gams::pose::ReferenceFrameVersion::save_as	(	madara::knowledge::KnowledgeBase &	kb,
		std::string	key,
		uint64_t	expiry,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`
	)		const

Save this ReferenceFrame to the knowledge base, with a specific key value.

Parameters

kb	the KnowledgeBase to save to
key	a key prefix to save with
expiry	use this expiry time instead of the one set on this ID

◆ temp()

bool gams::pose::ReferenceFrameVersion::temp ( ) const

inline

Returns true if this frame is a temporary; one invented to serve as root of a frame tree.

Definition at line 722 of file ReferenceFrame.h.

◆ throw_if_not_connected()

static void gams::pose::ReferenceFrameVersion::throw_if_not_connected ( const std::vector< ReferenceFrame > & frames )

static

◆ timestamp() [1/2]

uint64_t gams::pose::ReferenceFrameVersion::timestamp ( ) const

inline

Get the timestamp assigned to this frame.

Definition at line 695 of file ReferenceFrame.h.

◆ timestamp() [2/2]

ReferenceFrame gams::pose::ReferenceFrameVersion::timestamp ( uint64_t timestamp ) const

inline

Clone the this frame, but with new timestamp.

Returns: the new frame object

Definition at line 704 of file ReferenceFrame.h.

◆ type()

const ReferenceFrameType* gams::pose::ReferenceFrameVersion::type ( ) const

inline

Retrieve the frame type object for this frame.

Mostly useful for comparing to the pose::Cartesian or pose::GPS instances to test what kind of frame this is.

Returns: a pointer to this frames ReferenceFrameType

Definition at line 517 of file ReferenceFrame.h.

Friends And Related Function Documentation

◆ Coordinate

template<typename CoordType >

friend class Coordinate

friend

New coordinate types which are frame-dependant can inherit from this class.

Pass the type of the child class as CoordType

New coordinate types must: – Inherit from Coordinate, and pass itself as template parameter – Inherit from a base class which does not inherit from Coordinate – That base class must: – Have a typedef BaseType which refers to itself – Implement operator== – Implement the following methods: static std::string name() // return the type's name static int size() // return # of values in representation double get(int i) const // return ith value of representation bool operator==(const BaseType &rhs) const BaseType &as_vec() // return *this const BaseType &as_vec() const // return *this

Additionally, new coordinate types should either: – Specialize the ReferenceFrame::*_within_frame templates; OR – Add new overloads for transform_to_origin, transform_from_origin, do_normalize, and calc_distance virtual methods in ReferenceFrame, and add transformation logic for those methods in the various frames

Definition at line 1111 of file ReferenceFrame.h.

Member Data Documentation

◆ ETERNAL

const uint64_t gams::pose::ReferenceFrameVersion::ETERNAL = ReferenceFrameIdentity::ETERNAL

static

Definition at line 358 of file ReferenceFrame.h.

◆ ident_

std::shared_ptr<ReferenceFrameIdentity> gams::pose::ReferenceFrameVersion::ident_

mutableprivate

Definition at line 339 of file ReferenceFrame.h.

◆ interpolated_

bool gams::pose::ReferenceFrameVersion::interpolated_ = false

mutableprivate

Definition at line 343 of file ReferenceFrame.h.

◆ origin_

Pose gams::pose::ReferenceFrameVersion::origin_

private

Definition at line 342 of file ReferenceFrame.h.

◆ TEMP

const uint64_t gams::pose::ReferenceFrameVersion::TEMP = ReferenceFrameIdentity::TEMP

static

Definition at line 359 of file ReferenceFrame.h.

◆ temp_

bool gams::pose::ReferenceFrameVersion::temp_ = false

private

Definition at line 344 of file ReferenceFrame.h.

◆ timestamp_

uint64_t gams::pose::ReferenceFrameVersion::timestamp_ = ETERNAL

private

Definition at line 341 of file ReferenceFrame.h.

◆ type_

const ReferenceFrameType* gams::pose::ReferenceFrameVersion::type_

private

Definition at line 340 of file ReferenceFrame.h.

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

src/gams/pose/ReferenceFrame.h

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ ancestor_elem

◆ ancestor_vec

Constructor & Destructor Documentation

◆ ReferenceFrameVersion() [1/6]

◆ ReferenceFrameVersion() [2/6]

◆ ReferenceFrameVersion() [3/6]

◆ ReferenceFrameVersion() [4/6]

◆ ReferenceFrameVersion() [5/6]

◆ ReferenceFrameVersion() [6/6]

Member Function Documentation

◆ check_consistent()

◆ check_is_connected()

◆ default_prefix()

◆ find_common_timestamp_to_first_ancestor()

◆ find_nearest_neighbors()

◆ get_ancestry()

◆ has_id()

◆ id()

◆ id_ptr()

◆ ident()

◆ init_timestamp()

◆ interpolate()

◆ interpolated()

◆ key()

◆ latest_common_timestamp() [1/2]

◆ latest_common_timestamp() [2/2]

◆ latest_timestamp()

◆ load()

◆ load_exact()

◆ load_exact_internal()

◆ load_tree() [1/2]

◆ load_tree() [2/2]

◆ move() [1/2]

◆ move() [2/2]

◆ mut_origin()

◆ name()

◆ operator!=() [1/2]

◆ operator!=() [2/2]

◆ operator==() [1/2]

◆ operator==() [2/2]

◆ orient() [1/2]

◆ orient() [2/2]

◆ origin()

◆ origin_frame()

◆ pose() [1/2]

◆ pose() [2/2]

◆ save() [1/2]

◆ save() [2/2]

◆ save_as() [1/2]

◆ save_as() [2/2]

◆ temp()

◆ throw_if_not_connected()

◆ timestamp() [1/2]

◆ timestamp() [2/2]

◆ type()

Friends And Related Function Documentation

◆ Coordinate

Member Data Documentation

◆ ETERNAL

◆ ident_

◆ interpolated_

◆ origin_

◆ TEMP

◆ temp_

◆ timestamp_

◆ type_