#include "gams/GamsExport.h"
#include "gams/CPP11_compat.h"
#include <vector>
#include <string>
#include <cstring>
#include <sstream>
#include <utility>
#include <memory>
#include <stdexcept>
#include <mutex>
#include "ReferenceFrameFwd.h"
#include "CartesianFrame.h"
#include "Pose.h"
#include "Quaternion.h"
#include "madara/knowledge/EvalSettings.h"
#include "gams/exceptions/ReferenceFrameException.h"
#include "ReferenceFrame.inl"

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

class	gams::pose::ReferenceFrameArena

class	gams::pose::ReferenceFrameIdentity
	For internal use. More...

class	gams::pose::ReferenceFrameVersion
	For internal use. More...

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

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

Namespaces
	gams
	Contains all GAMS-related tools, classes and code.

	gams::pose
	Provides position and orientation primitives.

	gams::pose::impl
	Private implementation details.

	gams::pose::simple_rotate
	For internal use.

Functions
double	gams::pose::simple_rotate::calc_angle (const ReferenceFrameType *self, double rx1, double ry1, double rz1, double rx2, double ry2, double rz2)
	Calculates smallest angle between two AngularVectors. More...

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

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

void	gams::pose::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 *	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. More...

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

static std::string &	gams::pose::impl::make_kb_key (std::string &prefix, const std::string &id)

static std::string &	gams::pose::impl::make_kb_key (std::string &prefix, const std::string &id, uint64_t timestamp)

static std::string &	gams::pose::impl::make_kb_key (std::string &prefix, uint64_t timestamp)

void	gams::pose::simple_rotate::orient_linear_vec (double &x, double &y, double &z, double rx, double ry, double rz, bool reverse=false)
	Rotates a LinearVector according to a AngularVector. More...

void	gams::pose::simple_rotate::transform_angular_from_origin (const ReferenceFrameType origin, const ReferenceFrameType self, double orx, double ory, double orz, double &rx, double &ry, double &rz)
	Transform AngularVector in-place from its origin frame. More...

void	gams::pose::simple_rotate::transform_angular_to_origin (const ReferenceFrameType origin, const ReferenceFrameType self, double orx, double ory, double orz, double &rx, double &ry, double &rz)
	Transform AngularVector in-place into its origin frame from this frame. More...

void	gams::pose::simple_rotate::transform_pose_from_origin (const ReferenceFrameType origin, const ReferenceFrameType self, double ox, double oy, double oz, double orx, double ory, double orz, double &x, double &y, double &z, double &rx, double &ry, double &rz, bool fixed)
	Transform pose in-place from its origin frame Simply applies linear and angular transforms independantly. More...

void	gams::pose::simple_rotate::transform_pose_to_origin (const ReferenceFrameType origin, const ReferenceFrameType self, double ox, double oy, double oz, double orx, double ory, double orz, double &x, double &y, double &z, double &rx, double &ry, double &rz, bool fixed)
	Transform pose in-place into its origin frame from this frame. More...

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

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

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

Detailed Description

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following acknowledgments and disclaimers.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
The names "Carnegie Mellon University," "SEI" and/or "Software Engineering Institute" shall not be used to endorse or promote products derived from this software without prior written permission. For written permission, please contact permi.nosp@m.ssio.nosp@m.n@sei.nosp@m..cmu.nosp@m..edu.
Products derived from this software may not be called "SEI" nor may "SEI" appear in their names without prior written permission of permi.nosp@m.ssio.nosp@m.n@sei.nosp@m..cmu.nosp@m..edu.
Redistributions of any form whatsoever must retain the following acknowledgment:

This material is based upon work funded and supported by the Department of Defense under Contract No. FA8721-05-C-0003 with Carnegie Mellon University for the operation of the Software Engineering Institute, a federally funded research and development center. Any opinions, findings and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the United States Department of Defense.

NO WARRANTY. THIS CARNEGIE MELLON UNIVERSITY AND SOFTWARE ENGINEERING INSTITUTE MATERIAL IS FURNISHED ON AN "AS-IS" BASIS. CARNEGIE MELLON UNIVERSITY MAKES NO WARRANTIES OF ANY KIND, EITHER EXPRESSED OR IMPLIED, AS TO ANY MATTER INCLUDING, BUT NOT LIMITED TO, WARRANTY OF FITNESS FOR PURPOSE OR MERCHANTABILITY, EXCLUSIVITY, OR RESULTS OBTAINED FROM USE OF THE MATERIAL. CARNEGIE MELLON UNIVERSITY DOES NOT MAKE ANY WARRANTY OF ANY KIND WITH RESPECT TO FREEDOM FROM PATENT, TRADEMARK, OR COPYRIGHT INFRINGEMENT.

This material has been approved for public release and unlimited distribution.

Author: James Edmondson jedmo.nosp@m.ndso.nosp@m.n@gma.nosp@m.il.c.nosp@m.om

This file contains the base reference Frame class

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following acknowledgments and disclaimers.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
The names "Carnegie Mellon University," "SEI" and/or "Software Engineering Institute" shall not be used to endorse or promote products derived from this software without prior written permission. For written permission, please contact permi.nosp@m.ssio.nosp@m.n@sei.nosp@m..cmu.nosp@m..edu.
Products derived from this software may not be called "SEI" nor may "SEI" appear in their names without prior written permission of permi.nosp@m.ssio.nosp@m.n@sei.nosp@m..cmu.nosp@m..edu.
Redistributions of any form whatsoever must retain the following acknowledgment:

This material is based upon work funded and supported by the Department of Defense under Contract No. FA8721-05-C-0003 with Carnegie Mellon University for the operation of the Software Engineering Institute, a federally funded research and development center. Any opinions, findings and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the United States Department of Defense.

NO WARRANTY. THIS CARNEGIE MELLON UNIVERSITY AND SOFTWARE ENGINEERING INSTITUTE MATERIAL IS FURNISHED ON AN "AS-IS" BASIS. CARNEGIE MELLON UNIVERSITY MAKES NO WARRANTIES OF ANY KIND, EITHER EXPRESSED OR IMPLIED, AS TO ANY MATTER INCLUDING, BUT NOT LIMITED TO, WARRANTY OF FITNESS FOR PURPOSE OR MERCHANTABILITY, EXCLUSIVITY, OR RESULTS OBTAINED FROM USE OF THE MATERIAL. CARNEGIE MELLON UNIVERSITY DOES NOT MAKE ANY WARRANTY OF ANY KIND WITH RESPECT TO FREEDOM FROM PATENT, TRADEMARK, OR COPYRIGHT INFRINGEMENT.

This material has been approved for public release and unlimited distribution.

Author: James Edmondson jedmo.nosp@m.ndso.nosp@m.n@gma.nosp@m.il.c.nosp@m.om

This file contains forward declarations for ReferenceFrame objects

Definition in file ReferenceFrame.h.

Classes

Namespaces

Functions

Detailed Description