Provides position and orientation primitives. More...

Namespaces
	cartesian
	Contains frame translation functions for Cartesian reference frames.

	detail
	Provides underlying pose classes that provide infrastructure for higher level pose-related functions.

	euler
	Provides support for Euler tools for positions and orientations.

	geodetic_util

	gps
	Contains functions for translating GPS frames.

	impl
	Private implementation details.

	order
	Provides support for ordering reference-frame inputss.

	simple_rotate
	For internal use.

	units
	Type tags to indicate the dimension a coordinate lies within.

Classes
class	Acceleration

class	AccelerationVector

class	AngularAcceleration

class	AngularAccelerationVector

class	AngularVelocity

class	AngularVelocityVector

struct	basic_positional_mixin
	Internal use. More...

struct	basic_rotational_mixin
	Internal use. More...

class	BasicPose
	Underlying template for all Pose types, including PoseVector, Pose, and StampedPose See PositionVector and OrientationVector for representation deatils. More...

class	BasicVector
	For internal use. The underlying template for all coordinate types. More...

struct	common_rotational_mixin
	Internal use. More...

struct	default_positional_unit_traits
	Internal use. More...

struct	default_rotational_unit_traits
	Internal use. More...

struct	default_unit_traits
	Internal use. More...

class	Displacement

class	DisplacementVector

class	Epsilon
	A simple bounds checker which tests whether the current position is within the given number of meters of the expected position, and whether the difference in angles is within the given number of radians. More...

struct	fixed_into_free
	Helper struct for defining which fixed coordinate types map to which free vector coordinate types. More...

struct	fixed_into_free< Orientation >

struct	fixed_into_free< OrientationVector >

struct	fixed_into_free< Position >

struct	fixed_into_free< PositionVector >

struct	fixed_into_free< StampedOrientation >

struct	fixed_into_free< StampedPosition >

class	Framed
	Internal class implementing coordinates bound to reference frame. More...

class	FrameEvalSettings
	Settings class for saving/loading reference frames. More...

class	FrameStore
	Class for storing and loading frames in a given KnowledgeBase, using given settings, with a set expiry. More...

struct	is_positional

struct	is_rotational

class	Orientation

class	OrientationBounds
	Interface for defining a bounds checker for Orientations. More...

class	OrientationVector

class	Pose

class	PoseBounds
	Interface for defining a bounds checker for Poses, a combination of position and orientation checking. More...

class	PoseVector

class	Position

class	PositionBounds
	Interface for defining a bounds checker for Positions. More...

class	PositionVector

class	PrioritizedRegion
	A helper class for prioritized region information. More...

class	Quaternion
	Used internally to implement angle operations. More...

class	ReferenceFrame
	Provides Reference Frame (i.e., coordinate systemm) transforms. More...

class	ReferenceFrameArena

class	ReferenceFrameIdentity
	For internal use. More...

struct	ReferenceFrameType
	For internal use. More...

class	ReferenceFrameVersion
	For internal use. More...

class	Region
	A helper class for region information. More...

class	Rotation

class	RotationVector

class	SearchArea
	A utility class for search areas. More...

class	Stamped
	Internal class implementing coordinates stamped with timestamp. More...

class	StampedAcceleration

class	StampedAngularAcceleration

class	StampedAngularVelocity

class	StampedDisplacement

class	StampedOrientation

class	StampedPose

class	StampedPosition

class	StampedRotation

class	StampedVelocity

class	undefined_transform
	Thrown when an attempt is made to transform between two frame types, and there's not transform defined. More...

struct	unit_traits
	Helper trait to customize BasicVector based on unit. More...

struct	unit_traits< units::absolute< units::length > >

struct	unit_traits< units::absolute< units::plane_angle > >

struct	unit_traits< units::acceleration >

struct	unit_traits< units::angular_acceleration >

struct	unit_traits< units::angular_velocity >

struct	unit_traits< units::length >

struct	unit_traits< units::plane_angle >

struct	unit_traits< units::velocity >

class	unrelated_frames
	Thrown when an an attempt is made to transform between frames that do not belong to the same frame tree. More...

class	Velocity

class	VelocityVector

Functions
GAMS_EXPORT const ReferenceFrame &	default_frame (void)
	Default frame. More...

void	default_normalize_angular (const ReferenceFrameType *, double &, double &, double &)
	Returns a default normalized angular. More...

void	default_normalize_linear (const ReferenceFrameType *, double &, double &, double &)
	Returns a default normalized positional. More...

void	default_normalize_pose (const ReferenceFrameType *self, double &x, double &y, double &z, double &rx, double &ry, double &rz)
	Returns a default normalized pose. More...

GAMS_EXPORT const ReferenceFrame *	find_common_frame (const ReferenceFrame from, const ReferenceFrame to, std::vector< const ReferenceFrame * > *to_stack=nullptr)
	Helper function to find the common frame between two frames. More...

GAMS_EXPORT const ReferenceFrame &	gps_frame (void)
	Returns the canonical GPS frame representing Earth. More...

	MADARA_MAKE_VAL_SUPPORT_TEST (nano_timestamp, x,(x.nanos(), x.nanos(0UL)))
	Type trait to detect stamped types. More...

	MADARA_MAKE_VAL_SUPPORT_TEST (timestamp, x,(x.time(), x.time(TimeValue{})))
	Type trait to detect stamped types. More...

	MADARA_MAKE_VAL_SUPPORT_TEST (transform_to, x,(x.transform_to(std::declval< ReferenceFrame >())))

template<typename LDerived , typename RDerived , typename Units >
bool	operator!= (const BasicVector< LDerived, Units > &lhs, const BasicVector< RDerived, Units > &rhs)
	Inequality operator for coordinates. More...

template<typename LDerived , typename RDerived , typename Units >
bool	operator!= (const Framed< BasicVector< LDerived, Units >> &lhs, const Framed< BasicVector< RDerived, Units >> &rhs)
	Inequality operator for Framed coordinates. More...

template<typename LDerived , typename RDerived , typename Units >
bool	operator!= (const Stamped< Framed< BasicVector< LDerived, Units >>> &lhs, const Stamped< Framed< BasicVector< RDerived, Units >>> &rhs)
	Inequality operator for Framed and Stamped coordinates. More...

template<typename Derived , typename Units , typename Scalar >
auto	operator* (const BasicVector< Derived, Units > &vec, Scalar scalar) -> typename std::enable_if< std::is_arithmetic< Scalar >::value &&BasicVector< Derived, Units >::free(), typename BasicVector< Derived, Units >::derived_type >::type

template<typename Derived , typename Units , typename Scalar >
auto	operator* (Scalar scalar, const BasicVector< Derived, Units > &vec) -> decltype(vec *scalar)

template<typename Derived , typename Units , typename Scalar >
auto	operator*= (BasicVector< Derived, Units > &vec, Scalar scalar) -> typename std::enable_if< std::is_arithmetic< Scalar >::value &&BasicVector< Derived, Units >::free(), typename BasicVector< Derived, Units >::derived_type & >::type

template<typename LDerived , typename LUnits , typename RDerived , typename RUnits >
auto	operator+ (const BasicVector< LDerived, LUnits > &lhs, const BasicVector< RDerived, RUnits > &rhs) -> typename std::enable_if< RDerived::free(), LDerived >::type
	Pass through to Eigen operator- on vectors, if RHS is free. More...

template<typename LDerived , typename RDerived , typename Units >
auto	operator+= (BasicVector< LDerived, Units > &lhs, const BasicVector< RDerived, Units > &rhs) -> typename std::enable_if< unit_traits< Units >::positional &&unit_traits< Units >::free, LDerived & >::type

template<typename LDerived , typename RDerived , typename Units >
auto	operator+= (BasicVector< LDerived, Units > &lhs, const Eigen::MatrixBase< RDerived > &rhs) -> typename std::enable_if< unit_traits< Units >::positional, LDerived & >::type

template<typename LDerived , typename RDerived , typename Units >
auto	operator+= (BasicVector< LDerived, units::absolute< Units >> &lhs, const BasicVector< RDerived, Units > &rhs) -> typename std::enable_if< unit_traits< Units >::positional &&unit_traits< Units >::free, LDerived & >::type

template<typename LDerived , typename LUnits , typename RDerived , typename RUnits >
auto	operator- (const BasicVector< LDerived, LUnits > &lhs, const BasicVector< RDerived, RUnits > &rhs) -> typename std::enable_if< LDerived::free() &&RDerived::free(), LDerived >::type
	Pass through to Eigen operator- on vectors, for free types. More...

template<typename LDerived , typename RDerived , typename Units >
auto	operator-= (BasicVector< LDerived, Units > &lhs, const BasicVector< RDerived, Units > &rhs) -> typename std::enable_if< unit_traits< Units >::positional &&unit_traits< Units >::free, LDerived & >::type

template<typename LDerived , typename RDerived , typename Units >
auto	operator-= (BasicVector< LDerived, Units > &lhs, const Eigen::MatrixBase< RDerived > &rhs) -> typename std::enable_if< unit_traits< Units >::positional, LDerived & >::type

template<typename LDerived , typename RDerived , typename Units >
auto	operator-= (BasicVector< LDerived, units::absolute< Units >> &lhs, const BasicVector< RDerived, Units > &rhs) -> typename std::enable_if< unit_traits< Units >::positional &&unit_traits< Units >::free, LDerived & >::type

template<typename Derived , typename Units , typename Scalar >
auto	operator/ (const BasicVector< Derived, Units > &vec, Scalar scalar) -> typename std::enable_if< std::is_arithmetic< Scalar >::value &&BasicVector< Derived, Units >::free(), typename BasicVector< Derived, Units >::derived_type >::type

template<typename Derived , typename Units , typename Scalar >
auto	operator/ (Scalar scalar, const BasicVector< Derived, Units > &vec) -> decltype(vec/scalar)

template<typename Derived , typename Units , typename Scalar >
auto	operator/= (BasicVector< Derived, Units > &vec, Scalar scalar) -> typename std::enable_if< std::is_arithmetic< Scalar >::value &&BasicVector< Derived, Units >::free(), typename BasicVector< Derived, Units >::derived_type & >::type

template<typename LDerived , typename RDerived , typename Units >
bool	operator< (const BasicVector< LDerived, Units > &lhs, const BasicVector< RDerived, Units > &rhs)

template<typename LDerived , typename RDerived , typename Units >
bool	operator< (const Framed< BasicVector< LDerived, Units >> &lhs, const Framed< BasicVector< RDerived, Units >> &rhs)

template<typename LDerived , typename RDerived , typename Units >
bool	operator< (const Stamped< Framed< BasicVector< LDerived, Units >>> &lhs, const Stamped< Framed< BasicVector< RDerived, Units >>> &rhs)

template<typename Derived >
std::ostream &	operator<< (std::ostream &o, const BasicPose< Derived > &pose)

template<typename Derived , typename Units >
std::ostream &	operator<< (std::ostream &o, const BasicVector< Derived, Units > &v)

std::ostream &	operator<< (std::ostream &o, const Eigen::Vector3d &v)

template<typename Base >
std::ostream &	operator<< (std::ostream &o, const Stamped< Base > &v)

template<typename LDerived , typename RDerived , typename Units >
bool	operator<= (const BasicVector< LDerived, Units > &lhs, const BasicVector< RDerived, Units > &rhs)

template<typename LDerived , typename RDerived , typename Units >
bool	operator<= (const Framed< BasicVector< LDerived, Units >> &lhs, const Framed< BasicVector< RDerived, Units >> &rhs)

template<typename LDerived , typename RDerived , typename Units >
bool	operator<= (const Stamped< Framed< BasicVector< LDerived, Units >>> &lhs, const Stamped< Framed< BasicVector< RDerived, Units >>> &rhs)

template<typename LDerived , typename RDerived , typename Units >
bool	operator== (const BasicVector< LDerived, Units > &lhs, const BasicVector< RDerived, Units > &rhs)
	Equality operator for coordinates. More...

template<typename LDerived , typename RDerived , typename Units >
bool	operator== (const Framed< BasicVector< LDerived, Units >> &lhs, const Framed< BasicVector< RDerived, Units >> &rhs)
	Equality operator for Framed coordinates. More...

template<typename LDerived , typename RDerived , typename Units >
bool	operator== (const Stamped< Framed< BasicVector< LDerived, Units >>> &lhs, const Stamped< Framed< BasicVector< RDerived, Units >>> &rhs)
	Equality operator for Framed and Stamped coordinates. More...

template<typename LDerived , typename RDerived , typename Units >
bool	operator> (const BasicVector< LDerived, Units > &lhs, const BasicVector< RDerived, Units > &rhs)

template<typename LDerived , typename RDerived , typename Units >
bool	operator> (const Framed< BasicVector< LDerived, Units >> &lhs, const Framed< BasicVector< RDerived, Units >> &rhs)

template<typename LDerived , typename RDerived , typename Units >
bool	operator> (const Stamped< Framed< BasicVector< LDerived, Units >>> &lhs, const Stamped< Framed< BasicVector< RDerived, Units >>> &rhs)

template<typename LDerived , typename RDerived , typename Units >
bool	operator>= (const BasicVector< LDerived, Units > &lhs, const BasicVector< RDerived, Units > &rhs)

template<typename LDerived , typename RDerived , typename Units >
bool	operator>= (const Framed< BasicVector< LDerived, Units >> &lhs, const Framed< BasicVector< RDerived, Units >> &rhs)

template<typename LDerived , typename RDerived , typename Units >
bool	operator>= (const Stamped< Framed< BasicVector< LDerived, Units >>> &lhs, const Stamped< Framed< BasicVector< RDerived, Units >>> &rhs)

Eigen::Vector3d	quat_to_axis_angle (const Eigen::Quaterniond &quat)

ReferenceFrame	try_get_frame ()

template<typename T , typename... Args>
auto	try_get_frame (const T &, Args &&... args) -> typename std::enable_if<!supports_transform_to< T >::value, ReferenceFrame >::type

template<typename T , typename... Args>
auto	try_get_frame (const T &v, Args &&...) -> typename std::enable_if< supports_transform_to< T >::value, ReferenceFrame >::type

uint64_t	try_get_nano_time (uint64_t def)
	Base case: return default. More...

template<typename T , typename... Args>
auto	try_get_nano_time (uint64_t def, const T &, Args &&... args) -> typename std::enable_if<!supports_nano_timestamp< T >::value, uint64_t >::type
	If T doesn't support nanos(), recurse to remaining args. More...

template<typename T , typename... Args>
auto	try_get_nano_time (uint64_t, const T &v, Args &&...) -> typename std::enable_if< supports_nano_timestamp< T >::value, uint64_t >::type
	If T supports nanos(), call it and return value. More...

TimeValue	try_get_time ()

template<typename T , typename... Args>
auto	try_get_time (const T &, Args &&... args) -> typename std::enable_if<!supports_timestamp< T >::value, TimeValue >::type

template<typename T , typename... Args>
auto	try_get_time (const T &v, Args &&...) -> typename std::enable_if< supports_timestamp< T >::value, TimeValue >::type

template<typename T >
auto	try_transform_to (const T &v, const ReferenceFrame &frame) -> typename std::enable_if< supports_transform_to< T >::value, T >::type

Variables
GAMS_EXPORT const ReferenceFrameType *	Cartesian
	ReferenceFrameType struct for Cartesian frames. More...

static const detail::degrees_t	degrees
	Degres unit flag; see Euler constructor. More...

constexpr double	EARTH_CIRC = EARTH_RADIUS * 2 * M_PI

constexpr double	EARTH_RADIUS = 6371000.0

GAMS_EXPORT const ReferenceFrameType *	GPS
	ReferenceFrameType for GPS frames. More...

static const detail::radians_t	radians
	Radians unit flag; see Euler constructor. More...

static const detail::revolutions_t	revolutions
	Revolutions (i.e., 1 == 360 degrees) unit flag; see Euler constructor. More...

Detailed Description

Provides position and orientation primitives.

Function Documentation

◆ default_frame()

GAMS_EXPORT const ReferenceFrame& gams::pose::default_frame ( void )

Default frame.

Cartesian type. Will be used by any Coordinates by default, if no other is specified. In general, you should not need to create any other parent-less Cartesian frames.

◆ default_normalize_angular()

void gams::pose::default_normalize_angular	(	const ReferenceFrameType *	,
		double &	,
		double &	,
		double &
	)

inline

Returns a default normalized angular.

Definition at line 1480 of file ReferenceFrame.h.

◆ default_normalize_linear()

void gams::pose::default_normalize_linear	(	const ReferenceFrameType *	,
		double &	,
		double &	,
		double &
	)

inline

Returns a default normalized positional.

Definition at line 1473 of file ReferenceFrame.h.

◆ default_normalize_pose()

void gams::pose::default_normalize_pose	(	const ReferenceFrameType *	self,
		double &	x,
		double &	y,
		double &	z,
		double &	rx,
		double &	ry,
		double &	rz
	)

inline

Returns a default normalized pose.

Parameters

self	the current reference frame
x	the x pose coordinate
y	the y pose coordinate
z	the z pose coordinate
rx	the ending angular on x axis
ry	the ending angular on y axis
rz	the ending angular on z axis

Returns: the difference in radians

Definition at line 1496 of file ReferenceFrame.h.

◆ find_common_frame()

GAMS_EXPORT const ReferenceFrame* gams::pose::find_common_frame	(	const ReferenceFrame *	from,
		const ReferenceFrame *	to,
		std::vector< const ReferenceFrame * > *	to_stack = `nullptr`
	)

Helper function to find the common frame between two frames.

Parameters

from	the initial frame
to	the target frame
to_stack	if not nullptr, the frames needed to go from base to target frame will be pushed to pointed to vector

◆ gps_frame()

GAMS_EXPORT const ReferenceFrame& gams::pose::gps_frame ( void )

Returns the canonical GPS frame representing Earth.

In general, use this function, instead of creating your own GPS typed ReferenceFrame.

◆ MADARA_MAKE_VAL_SUPPORT_TEST() [1/3]

gams::pose::MADARA_MAKE_VAL_SUPPORT_TEST	(	nano_timestamp	,
		x	,
		(x.nanos(), x.nanos(0UL))
	)

Type trait to detect stamped types.

◆ MADARA_MAKE_VAL_SUPPORT_TEST() [2/3]

gams::pose::MADARA_MAKE_VAL_SUPPORT_TEST	(	timestamp	,
		x	,
		(x.time(), x.time(TimeValue{}))
	)

Type trait to detect stamped types.

◆ MADARA_MAKE_VAL_SUPPORT_TEST() [3/3]

gams::pose::MADARA_MAKE_VAL_SUPPORT_TEST	(	transform_to	,
		x	,
		(x.transform_to(std::declval< ReferenceFrame >()))
	)

◆ operator!=() [1/3]

template<typename LDerived , typename RDerived , typename Units >

bool gams::pose::operator!=	(	const BasicVector< LDerived, Units > &	lhs,
		const BasicVector< RDerived, Units > &	rhs
	)

inline

Inequality operator for coordinates.

Returns: !(lhs == rhs)

Definition at line 984 of file Coordinate.h.

◆ operator!=() [2/3]

template<typename LDerived , typename RDerived , typename Units >

bool gams::pose::operator!=	(	const Framed< BasicVector< LDerived, Units >> &	lhs,
		const Framed< BasicVector< RDerived, Units >> &	rhs
	)

inline

Inequality operator for Framed coordinates.

Returns: !(lhs == rhs)

Definition at line 997 of file Coordinate.h.

◆ operator!=() [3/3]

template<typename LDerived , typename RDerived , typename Units >

bool gams::pose::operator!=	(	const Stamped< Framed< BasicVector< LDerived, Units >>> &	lhs,
		const Stamped< Framed< BasicVector< RDerived, Units >>> &	rhs
	)

inline

Inequality operator for Framed and Stamped coordinates.

Returns: !(lhs == rhs)

Definition at line 1010 of file Coordinate.h.

◆ operator*() [1/2]

template<typename Derived , typename Units , typename Scalar >

auto gams::pose::operator*	(	const BasicVector< Derived, Units > &	vec,
		Scalar	scalar
	)		-> typename std::enable_if<std::is_arithmetic<Scalar>::value && BasicVector<Derived, Units>::free(), typename BasicVector<Derived, Units>::derived_type>::type

inline

Definition at line 831 of file Coordinate.h.

◆ operator*() [2/2]

template<typename Derived , typename Units , typename Scalar >

auto gams::pose::operator*	(	Scalar	scalar,
		const BasicVector< Derived, Units > &	vec
	)		-> decltype(vec * scalar)

inline

Definition at line 831 of file Coordinate.h.

◆ operator*=()

template<typename Derived , typename Units , typename Scalar >

auto gams::pose::operator*=	(	BasicVector< Derived, Units > &	vec,
		Scalar	scalar
	)		-> typename std::enable_if<std::is_arithmetic<Scalar>::value && BasicVector<Derived, Units>::free(), typename BasicVector<Derived, Units>::derived_type&>::type

inline

Definition at line 831 of file Coordinate.h.

◆ operator+()

template<typename LDerived , typename LUnits , typename RDerived , typename RUnits >

auto gams::pose::operator+	(	const BasicVector< LDerived, LUnits > &	lhs,
		const BasicVector< RDerived, RUnits > &	rhs
	)		-> typename std::enable_if<RDerived::free(), LDerived>::type

inline

Pass through to Eigen operator- on vectors, if RHS is free.

Pass through to Eigen operator- on vectors, if RHS is fixed and lHS is free.

Returns: vector of same type as LHS; vector of same type as RHS

Definition at line 876 of file Coordinate.h.

◆ operator+=() [1/3]

template<typename LDerived , typename RDerived , typename Units >

auto gams::pose::operator+=	(	BasicVector< LDerived, Units > &	lhs,
		const BasicVector< RDerived, Units > &	rhs
	)		-> typename std::enable_if<unit_traits<Units>::positional && unit_traits<Units>::free, LDerived &>::type

inline

Definition at line 869 of file Coordinate.h.

◆ operator+=() [2/3]

template<typename LDerived , typename RDerived , typename Units >

auto gams::pose::operator+=	(	BasicVector< LDerived, Units > &	lhs,
		const Eigen::MatrixBase< RDerived > &	rhs
	)		-> typename std::enable_if<unit_traits<Units>::positional, LDerived &>::type

inline

Definition at line 869 of file Coordinate.h.

◆ operator+=() [3/3]

template<typename LDerived , typename RDerived , typename Units >

auto gams::pose::operator+=	(	BasicVector< LDerived, units::absolute< Units >> &	lhs,
		const BasicVector< RDerived, Units > &	rhs
	)		-> typename std::enable_if<unit_traits<Units>::positional && unit_traits<Units>::free, LDerived &>::type

inline

Definition at line 869 of file Coordinate.h.

◆ operator-()

template<typename LDerived , typename LUnits , typename RDerived , typename RUnits >

auto gams::pose::operator-	(	const BasicVector< LDerived, LUnits > &	lhs,
		const BasicVector< RDerived, RUnits > &	rhs
	)		-> typename std::enable_if<LDerived::free() && RDerived::free(), LDerived>::type

inline

Pass through to Eigen operator- on vectors, for free types.

Pass through to Eigen operator- on vectors, for fixed types.

Returns: a free type vector

Definition at line 902 of file Coordinate.h.

◆ operator-=() [1/3]

template<typename LDerived , typename RDerived , typename Units >

auto gams::pose::operator-=	(	BasicVector< LDerived, Units > &	lhs,
		const BasicVector< RDerived, Units > &	rhs
	)		-> typename std::enable_if<unit_traits<Units>::positional && unit_traits<Units>::free, LDerived &>::type

inline

Definition at line 870 of file Coordinate.h.

◆ operator-=() [2/3]

template<typename LDerived , typename RDerived , typename Units >

auto gams::pose::operator-=	(	BasicVector< LDerived, Units > &	lhs,
		const Eigen::MatrixBase< RDerived > &	rhs
	)		-> typename std::enable_if<unit_traits<Units>::positional, LDerived &>::type

inline

Definition at line 870 of file Coordinate.h.

◆ operator-=() [3/3]

template<typename LDerived , typename RDerived , typename Units >

auto gams::pose::operator-=	(	BasicVector< LDerived, units::absolute< Units >> &	lhs,
		const BasicVector< RDerived, Units > &	rhs
	)		-> typename std::enable_if<unit_traits<Units>::positional && unit_traits<Units>::free, LDerived &>::type

inline

Definition at line 870 of file Coordinate.h.

◆ operator/() [1/2]

template<typename Derived , typename Units , typename Scalar >

auto gams::pose::operator/	(	const BasicVector< Derived, Units > &	vec,
		Scalar	scalar
	)		-> typename std::enable_if<std::is_arithmetic<Scalar>::value && BasicVector<Derived, Units>::free(), typename BasicVector<Derived, Units>::derived_type>::type

inline

Definition at line 832 of file Coordinate.h.

◆ operator/() [2/2]

template<typename Derived , typename Units , typename Scalar >

auto gams::pose::operator/	(	Scalar	scalar,
		const BasicVector< Derived, Units > &	vec
	)		-> decltype(vec / scalar)

inline

Definition at line 832 of file Coordinate.h.

◆ operator/=()

template<typename Derived , typename Units , typename Scalar >

auto gams::pose::operator/=	(	BasicVector< Derived, Units > &	vec,
		Scalar	scalar
	)		-> typename std::enable_if<std::is_arithmetic<Scalar>::value && BasicVector<Derived, Units>::free(), typename BasicVector<Derived, Units>::derived_type&>::type

inline

Definition at line 832 of file Coordinate.h.

◆ operator<() [1/3]

template<typename LDerived , typename RDerived , typename Units >

bool gams::pose::operator<	(	const BasicVector< LDerived, Units > &	lhs,
		const BasicVector< RDerived, Units > &	rhs
	)

inline

Definition at line 1018 of file Coordinate.h.

◆ operator<() [2/3]

template<typename LDerived , typename RDerived , typename Units >

bool gams::pose::operator<	(	const Framed< BasicVector< LDerived, Units >> &	lhs,
		const Framed< BasicVector< RDerived, Units >> &	rhs
	)

inline

Definition at line 1038 of file Coordinate.h.

◆ operator<() [3/3]

template<typename LDerived , typename RDerived , typename Units >

bool gams::pose::operator<	(	const Stamped< Framed< BasicVector< LDerived, Units >>> &	lhs,
		const Stamped< Framed< BasicVector< RDerived, Units >>> &	rhs
	)

inline

Definition at line 1048 of file Coordinate.h.

◆ operator<<() [1/4]

template<typename Derived >

std::ostream& gams::pose::operator<<	(	std::ostream &	o,
		const BasicPose< Derived > &	pose
	)

inline

Definition at line 527 of file Pose.h.

◆ operator<<() [2/4]

template<typename Derived , typename Units >

std::ostream& gams::pose::operator<<	(	std::ostream &	o,
		const BasicVector< Derived, Units > &	v
	)

inline

Definition at line 1289 of file Coordinate.h.

◆ operator<<() [3/4]

std::ostream& gams::pose::operator<<	(	std::ostream &	o,
		const Eigen::Vector3d &	v
	)

inline

Definition at line 1266 of file Coordinate.h.

◆ operator<<() [4/4]

template<typename Base >

std::ostream& gams::pose::operator<<	(	std::ostream &	o,
		const Stamped< Base > &	v
	)

inline

Definition at line 208 of file Stamped.h.

◆ operator<=() [1/3]

template<typename LDerived , typename RDerived , typename Units >

bool gams::pose::operator<=	(	const BasicVector< LDerived, Units > &	lhs,
		const BasicVector< RDerived, Units > &	rhs
	)

inline

Definition at line 1058 of file Coordinate.h.

◆ operator<=() [2/3]

template<typename LDerived , typename RDerived , typename Units >

bool gams::pose::operator<=	(	const Framed< BasicVector< LDerived, Units >> &	lhs,
		const Framed< BasicVector< RDerived, Units >> &	rhs
	)

inline

Definition at line 1066 of file Coordinate.h.

◆ operator<=() [3/3]

template<typename LDerived , typename RDerived , typename Units >

bool gams::pose::operator<=	(	const Stamped< Framed< BasicVector< LDerived, Units >>> &	lhs,
		const Stamped< Framed< BasicVector< RDerived, Units >>> &	rhs
	)

inline

Definition at line 1074 of file Coordinate.h.

◆ operator==() [1/3]

template<typename LDerived , typename RDerived , typename Units >

bool gams::pose::operator==	(	const BasicVector< LDerived, Units > &	lhs,
		const BasicVector< RDerived, Units > &	rhs
	)

inline

Equality operator for coordinates.

Returns: true if all corresponding values are equal.

Definition at line 936 of file Coordinate.h.

◆ operator==() [2/3]

template<typename LDerived , typename RDerived , typename Units >

bool gams::pose::operator==	(	const Framed< BasicVector< LDerived, Units >> &	lhs,
		const Framed< BasicVector< RDerived, Units >> &	rhs
	)

inline

Equality operator for Framed coordinates.

Returns: true if frames and all corresponding values are equal.

Definition at line 954 of file Coordinate.h.

◆ operator==() [3/3]

template<typename LDerived , typename RDerived , typename Units >

bool gams::pose::operator==	(	const Stamped< Framed< BasicVector< LDerived, Units >>> &	lhs,
		const Stamped< Framed< BasicVector< RDerived, Units >>> &	rhs
	)

inline

Equality operator for Framed and Stamped coordinates.

Returns: true if timestamps, frames and all corresponding values are equal.

Definition at line 969 of file Coordinate.h.

◆ operator>() [1/3]

template<typename LDerived , typename RDerived , typename Units >

bool gams::pose::operator>	(	const BasicVector< LDerived, Units > &	lhs,
		const BasicVector< RDerived, Units > &	rhs
	)

inline

Definition at line 1106 of file Coordinate.h.

◆ operator>() [2/3]

template<typename LDerived , typename RDerived , typename Units >

bool gams::pose::operator>	(	const Framed< BasicVector< LDerived, Units >> &	lhs,
		const Framed< BasicVector< RDerived, Units >> &	rhs
	)

inline

Definition at line 1114 of file Coordinate.h.

◆ operator>() [3/3]

template<typename LDerived , typename RDerived , typename Units >

bool gams::pose::operator>	(	const Stamped< Framed< BasicVector< LDerived, Units >>> &	lhs,
		const Stamped< Framed< BasicVector< RDerived, Units >>> &	rhs
	)

inline

Definition at line 1122 of file Coordinate.h.

◆ operator>=() [1/3]

template<typename LDerived , typename RDerived , typename Units >

bool gams::pose::operator>=	(	const BasicVector< LDerived, Units > &	lhs,
		const BasicVector< RDerived, Units > &	rhs
	)

inline

Definition at line 1082 of file Coordinate.h.

◆ operator>=() [2/3]

template<typename LDerived , typename RDerived , typename Units >

bool gams::pose::operator>=	(	const Framed< BasicVector< LDerived, Units >> &	lhs,
		const Framed< BasicVector< RDerived, Units >> &	rhs
	)

inline

Definition at line 1090 of file Coordinate.h.

◆ operator>=() [3/3]

template<typename LDerived , typename RDerived , typename Units >

bool gams::pose::operator>=	(	const Stamped< Framed< BasicVector< LDerived, Units >>> &	lhs,
		const Stamped< Framed< BasicVector< RDerived, Units >>> &	rhs
	)

inline

Definition at line 1098 of file Coordinate.h.

◆ quat_to_axis_angle()

Eigen::Vector3d gams::pose::quat_to_axis_angle ( const Eigen::Quaterniond & quat )

inline

Definition at line 170 of file Coordinate.h.

◆ try_get_frame() [1/3]

ReferenceFrame gams::pose::try_get_frame ( )

inline

Definition at line 85 of file Framed.h.

◆ try_get_frame() [2/3]

template<typename T , typename... Args>

auto gams::pose::try_get_frame	(	const T &	,
		Args &&...	args
	)		-> typename std::enable_if<!supports_transform_to<T>::value, ReferenceFrame>::type

inline

Definition at line 98 of file Framed.h.

◆ try_get_frame() [3/3]

template<typename T , typename... Args>

auto gams::pose::try_get_frame	(	const T &	v,
		Args &&	...
	)		-> typename std::enable_if<supports_transform_to<T>::value, ReferenceFrame>::type

inline

Definition at line 91 of file Framed.h.

◆ try_get_nano_time() [1/3]

uint64_t gams::pose::try_get_nano_time ( uint64_t def )

inline

Base case: return default.

Definition at line 308 of file ReferenceFrame.h.

◆ try_get_nano_time() [2/3]

template<typename T , typename... Args>

auto gams::pose::try_get_nano_time	(	uint64_t	def,
		const T &	,
		Args &&...	args
	)		-> typename std::enable_if<!supports_nano_timestamp<T>::value, uint64_t>::type

inline

If T doesn't support nanos(), recurse to remaining args.

Definition at line 323 of file ReferenceFrame.h.

◆ try_get_nano_time() [3/3]

template<typename T , typename... Args>

auto gams::pose::try_get_nano_time	(	uint64_t	,
		const T &	v,
		Args &&	...
	)		-> typename std::enable_if<supports_nano_timestamp<T>::value, uint64_t>::type

inline

If T supports nanos(), call it and return value.

Definition at line 315 of file ReferenceFrame.h.

◆ try_get_time() [1/3]

TimeValue gams::pose::try_get_time ( )

inline

Definition at line 80 of file Stamped.h.

◆ try_get_time() [2/3]

template<typename T , typename... Args>

auto gams::pose::try_get_time	(	const T &	,
		Args &&...	args
	)		-> typename std::enable_if<!supports_timestamp<T>::value, TimeValue>::type

inline

Definition at line 93 of file Stamped.h.

◆ try_get_time() [3/3]

template<typename T , typename... Args>

auto gams::pose::try_get_time	(	const T &	v,
		Args &&	...
	)		-> typename std::enable_if<supports_timestamp<T>::value, TimeValue>::type

inline

Definition at line 86 of file Stamped.h.

◆ try_transform_to()

template<typename T >

auto gams::pose::try_transform_to	(	const T &	v,
		const ReferenceFrame &	frame
	)		-> typename std::enable_if<supports_transform_to<T>::value, T>::type

inline

Definition at line 72 of file Framed.h.

Variable Documentation

◆ Cartesian

GAMS_EXPORT const ReferenceFrameType* gams::pose::Cartesian

extern

ReferenceFrameType struct for Cartesian frames.

Used by default by ReferenceFrame objects, or can be passed as first parameter.

◆ degrees

const detail::degrees_t gams::pose::degrees

static

Degres unit flag; see Euler constructor.

Definition at line 90 of file AngleUnits.h.

◆ EARTH_CIRC

constexpr double gams::pose::EARTH_CIRC = EARTH_RADIUS * 2 * M_PI

constexpr

Definition at line 95 of file GPSFrame.h.

◆ EARTH_RADIUS

constexpr double gams::pose::EARTH_RADIUS = 6371000.0

constexpr

Definition at line 94 of file GPSFrame.h.

◆ GPS

GAMS_EXPORT const ReferenceFrameType* gams::pose::GPS

extern

ReferenceFrameType for GPS frames.

Pass as first argument of ReferenceFrame constructors to create a GPS frame instead of the default Cartesian; however, you should generally not create new GPS frames. Instead, use gps_frame().

◆ radians

const detail::radians_t gams::pose::radians

static

Radians unit flag; see Euler constructor.

Definition at line 87 of file AngleUnits.h.

◆ revolutions

const detail::revolutions_t gams::pose::revolutions

static

Revolutions (i.e., 1 == 360 degrees) unit flag; see Euler constructor.

Definition at line 93 of file AngleUnits.h.

Namespaces

Classes

Functions

Variables

Detailed Description

Function Documentation

◆ default_frame()

◆ default_normalize_angular()

◆ default_normalize_linear()

◆ default_normalize_pose()

◆ find_common_frame()

◆ gps_frame()

◆ MADARA_MAKE_VAL_SUPPORT_TEST() [1/3]

◆ MADARA_MAKE_VAL_SUPPORT_TEST() [2/3]

◆ MADARA_MAKE_VAL_SUPPORT_TEST() [3/3]

◆ operator!=() [1/3]

◆ operator!=() [2/3]

◆ operator!=() [3/3]

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator*=()

◆ operator+()

◆ operator+=() [1/3]

◆ operator+=() [2/3]

◆ operator+=() [3/3]

◆ operator-()

◆ operator-=() [1/3]

◆ operator-=() [2/3]

◆ operator-=() [3/3]

◆ operator/() [1/2]

◆ operator/() [2/2]

◆ operator/=()

◆ operator<() [1/3]

◆ operator<() [2/3]

◆ operator<() [3/3]

◆ operator<<() [1/4]

◆ operator<<() [2/4]

◆ operator<<() [3/4]

◆ operator<<() [4/4]

◆ operator<=() [1/3]

◆ operator<=() [2/3]

◆ operator<=() [3/3]

◆ operator==() [1/3]

◆ operator==() [2/3]

◆ operator==() [3/3]

◆ operator>() [1/3]

◆ operator>() [2/3]

◆ operator>() [3/3]

◆ operator>=() [1/3]

◆ operator>=() [2/3]

◆ operator>=() [3/3]

◆ quat_to_axis_angle()

◆ try_get_frame() [1/3]

◆ try_get_frame() [2/3]

◆ try_get_frame() [3/3]

◆ try_get_nano_time() [1/3]

◆ try_get_nano_time() [2/3]

◆ try_get_nano_time() [3/3]

◆ try_get_time() [1/3]

◆ try_get_time() [2/3]

◆ try_get_time() [3/3]

◆ try_transform_to()

Variable Documentation

◆ Cartesian

◆ degrees

◆ EARTH_CIRC

◆ EARTH_RADIUS

◆ GPS

◆ radians

◆ revolutions