#include <Pose.h>

Inheritance diagram for gams::pose::StampedPose:

Public Types
using	derived_type = typename Impl::derived_type

Public Member Functions
template<typename Base2 >
bool	approximately_equal (const Framed< Base2 > &other, double epsilon) const
	Tests if this Coordinate is within epsilon in distance (as defined by this Coordinate's reference frame's distance metric). More...

double	distance_to (const derived_type &target) const
	Calculate distance from this Coordinate to a target. More...

const ReferenceFrame &	frame () const
	Getter for the ReferenceFrame this Coordinate belongs to. More...

ReferenceFrame	frame (ReferenceFrame new_frame)
	Setter for the ReferenceFrame this Coordinate belongs to. More...

uint64_t	nanos () const
	Get time as nanos since std::steady_clock epoch. More...

uint64_t	nanos (uint64_t v)
	Set time as nanos since std::steady_clock epoch. More...

void	normalize ()
	Reduces this Coordinate to it's normalized form, should one exist. More...

double	secs () const
	Get time as seconds since std::steady_clock epoch. More...

double	secs (double v)
	Set time as seconds since std::steady_clock epoch. More...

TimeValue	time () const
	Get time as std::chrono based TimeValue. More...

TimeValue	time (TimeValue v)
	Set time from std::chrono based TimeValue. More...

void	transform_this_to (const ReferenceFrame &new_frame)
	Transform this coordinate, in place, to a new reference frame. More...

derived_type WARN_UNUSED	transform_to (const ReferenceFrame &new_frame) const
	Copy and transform this coordinate to a new reference frame. More...

Private Types
using	Base = Stamped< Framed< BasicPose< StampedPose > >>

Private Member Functions
	StampedPose ()=default

	StampedPose (const Orientation &ori)

	StampedPose (const Position &pos)

	StampedPose (const Position &pos, const Orientation &ori)

	StampedPose (const StampedOrientation &ori)

	StampedPose (const StampedPosition &pos)

	StampedPose (const StampedPosition &pos, const StampedOrientation &ori)

	operator StampedOrientation () const
	Castig operator to extract StampedOrientation from this Pose. More...

	operator StampedPosition () const
	Casting operator to extract StampedPosition from this Pose. More...

Private Attributes
ReferenceFrame	frame_ = default_frame()

TimeValue	time_

Static Private Attributes
static constexpr const char *	type_name = "StampedPose"

Detailed Description

Definition at line 473 of file Pose.h.

Member Typedef Documentation

◆ Base

using gams::pose::StampedPose::Base = Stamped<Framed<BasicPose<StampedPose> >>

private

Definition at line 476 of file Pose.h.

◆ derived_type

using gams::pose::Stamped< Framed< BasicPose< StampedPose > > >::derived_type = typename Impl::derived_type

inherited

Definition at line 107 of file Stamped.h.

Constructor & Destructor Documentation

◆ StampedPose() [1/7]

gams::pose::StampedPose::StampedPose ( )

privatedefault

◆ StampedPose() [2/7]

gams::pose::StampedPose::StampedPose ( const Position & pos )

inlineprivate

Definition at line 483 of file Pose.h.

◆ StampedPose() [3/7]

gams::pose::StampedPose::StampedPose ( const StampedPosition & pos )

inlineprivate

Definition at line 486 of file Pose.h.

◆ StampedPose() [4/7]

gams::pose::StampedPose::StampedPose ( const Orientation & ori )

inlineprivate

Definition at line 489 of file Pose.h.

◆ StampedPose() [5/7]

gams::pose::StampedPose::StampedPose ( const StampedOrientation & ori )

inlineprivate

Definition at line 492 of file Pose.h.

◆ StampedPose() [6/7]

gams::pose::StampedPose::StampedPose	(	const Position &	pos,
		const Orientation &	ori
	)

inlineprivate

Definition at line 495 of file Pose.h.

◆ StampedPose() [7/7]

gams::pose::StampedPose::StampedPose	(	const StampedPosition &	pos,
		const StampedOrientation &	ori
	)

inlineprivate

Definition at line 498 of file Pose.h.

Member Function Documentation

◆ approximately_equal()

template<typename Impl >

template<typename Base2 >

bool gams::pose::Framed< Impl >::approximately_equal	(	const Framed< Base2 > &	other,
		double	epsilon
	)		const

inlineinherited

Tests if this Coordinate is within epsilon in distance (as defined by this Coordinate's reference frame's distance metric).

If the other Coordinate is in a different reference frame, it is first copied, and converted to this Coordinate's reference frame.

Parameters

other	the other Coordinate to test against
epsilon	the maximum distance permitted to return true

Returns: true if the distance is less than or equal to epsilon

Definition at line 208 of file Framed.h.

◆ distance_to()

template<typename Impl >

double gams::pose::Framed< Impl >::distance_to ( const derived_type & target ) const

inherited

Calculate distance from this Coordinate to a target.

If the target is in another reference frame, this and the target will be copied, and converted to their closest common frame.

Requres "ReferenceFrame.h"

Parameters

target the target Coordinate to calculate distance to

Returns: the distance according to the distance metric in the common frame, for CoordType. Typically, return will be meters or degrees.

Exceptions

unrelated_frames	thrown if the target's reference frame is not part of the same tree as the current one.
undefined_transform	thrown if no conversion between two frames along the conversion path has been defined.

◆ frame() [1/2]

template<typename Impl >

const ReferenceFrame& gams::pose::Framed< Impl >::frame ( ) const

inlineinherited

Getter for the ReferenceFrame this Coordinate belongs to.

Returns: the frame

Definition at line 179 of file Framed.h.

◆ frame() [2/2]

template<typename Impl >

ReferenceFrame gams::pose::Framed< Impl >::frame ( ReferenceFrame new_frame )

inlineinherited

Setter for the ReferenceFrame this Coordinate belongs to.

Any further calculations using this Coordinate will use this frame.

Not thread-safe.

Parameters

new_frame the frame the Coordinate will now belong to

Returns: the old frame

Definition at line 190 of file Framed.h.

◆ nanos() [1/2]

uint64_t gams::pose::Stamped< Framed< BasicPose< StampedPose > > >::nanos ( ) const

inlineinherited

Get time as nanos since std::steady_clock epoch.

Definition at line 174 of file Stamped.h.

◆ nanos() [2/2]

uint64_t gams::pose::Stamped< Framed< BasicPose< StampedPose > > >::nanos ( uint64_t v )

inlineinherited

Set time as nanos since std::steady_clock epoch.

Definition at line 181 of file Stamped.h.

◆ normalize()

template<typename Impl >

void gams::pose::Framed< Impl >::normalize ( )

inherited

Reduces this Coordinate to it's normalized form, should one exist.

Typically useful for Coordinate types which incorporate angles.

Requres "ReferenceFrame.h"

◆ operator StampedOrientation()

gams::pose::StampedPose::operator StampedOrientation ( ) const

inlineprivate

Castig operator to extract StampedOrientation from this Pose.

Returns: StampedOrientation with same frame and timestamp as this pose, and same rx/ry/rz values

Definition at line 520 of file Pose.h.

◆ operator StampedPosition()

gams::pose::StampedPose::operator StampedPosition ( ) const

inlineprivate

Casting operator to extract StampedPosition from this Pose.

Returns: Position with same frame as this pose, and same x/y/z values; StampedPosition with same frame and timestamp as this pose, and same x/y/z values

Definition at line 509 of file Pose.h.

◆ secs() [1/2]

double gams::pose::Stamped< Framed< BasicPose< StampedPose > > >::secs ( ) const

inlineinherited

Get time as seconds since std::steady_clock epoch.

Definition at line 188 of file Stamped.h.

◆ secs() [2/2]

double gams::pose::Stamped< Framed< BasicPose< StampedPose > > >::secs ( double v )

inlineinherited

Set time as seconds since std::steady_clock epoch.

Definition at line 195 of file Stamped.h.

◆ time() [1/2]

TimeValue gams::pose::Stamped< Framed< BasicPose< StampedPose > > >::time ( ) const

inlineinherited

Get time as std::chrono based TimeValue.

Definition at line 167 of file Stamped.h.

◆ time() [2/2]

TimeValue gams::pose::Stamped< Framed< BasicPose< StampedPose > > >::time ( TimeValue v )

inlineinherited

Set time from std::chrono based TimeValue.

Returns: the new time

Definition at line 171 of file Stamped.h.

◆ transform_this_to()

template<typename Impl >

void gams::pose::Framed< Impl >::transform_this_to ( const ReferenceFrame & new_frame )

inherited

Transform this coordinate, in place, to a new reference frame.

Requres "ReferenceFrame.h"

Parameters

new_frame the frame to transform to

Exceptions

unrelated_frames	thrown if the new reference frame is not part of the same tree as the current one.
undefined_transform	thrown if no conversion between two frames along the conversion path has been defined.

◆ transform_to()

template<typename Impl >

derived_type WARN_UNUSED gams::pose::Framed< Impl >::transform_to ( const ReferenceFrame & new_frame ) const

inherited

Copy and transform this coordinate to a new reference frame.

Requres "ReferenceFrame.h"

Parameters

new_frame the frame to transform to

Returns: the new coordinate in the new frame

Exceptions

unrelated_frames	thrown if the new reference frame is not part of the same tree as the current one.
undefined_transform	thrown if no conversion between two frames along the conversion path has been defined.

Member Data Documentation

◆ frame_

template<typename Impl >

ReferenceFrame gams::pose::Framed< Impl >::frame_ = default_frame()

privateinherited

Definition at line 278 of file Framed.h.

◆ time_

TimeValue gams::pose::Stamped< Framed< BasicPose< StampedPose > > >::time_

privateinherited

Definition at line 204 of file Stamped.h.

◆ type_name

constexpr const char* gams::pose::StampedPose::type_name = "StampedPose"

staticconstexprprivate

Definition at line 479 of file Pose.h.

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

src/gams/pose/Pose.h

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

◆ Base

◆ derived_type

Constructor & Destructor Documentation

◆ StampedPose() [1/7]

◆ StampedPose() [2/7]

◆ StampedPose() [3/7]

◆ StampedPose() [4/7]

◆ StampedPose() [5/7]

◆ StampedPose() [6/7]

◆ StampedPose() [7/7]

Member Function Documentation

◆ approximately_equal()

◆ distance_to()

◆ frame() [1/2]

◆ frame() [2/2]

◆ nanos() [1/2]

◆ nanos() [2/2]

◆ normalize()

◆ operator StampedOrientation()

◆ operator StampedPosition()

◆ secs() [1/2]

◆ secs() [2/2]

◆ time() [1/2]

◆ time() [2/2]

◆ transform_this_to()

◆ transform_to()

Member Data Documentation

◆ frame_

◆ time_

◆ type_name