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

#include <Coordinate.h>

Inheritance diagram for gams::pose::BasicVector< Derived, Units >:

Public Types
using	derived_type = Derived

using	units_type = Units

Public Member Functions
	BasicVector ()=default

template<typename Derived2 >
	BasicVector (const BasicVector< Derived2, Units > &v)
	Construct from a vector of same units, but different derived type. More...

template<typename Other >
Derived	cross (const BasicVector< Other, Units > &other) const
	Passthrough to Eigen vector cross method. More...

template<typename Other >
double	dot (const BasicVector< Other, Units > &other) const
	Passthrough to Eigen vector dot method. More...

template<typename ContainType >
void	from_array (const ContainType &in)
	Overwrites this Coordinate's values with those pulled from the referenced array. More...

void	from_container (const madara::knowledge::containers::NativeDoubleVector &container)
	Assign values from a NativeDoubleVector container. More...

double	get (size_t i) const
	Get i'th value in this Coordinate. More...

bool	is_set () const
	Does this coordinate have any values not INVAL_COORD? More...

bool	is_zero () const
	Does this coordinate have values all zeroes? More...

double	norm () const
	Passthrough to Eigen vector norm method. More...

Derived	normalized () const
	Passthrough to Eigen vector normalized method. More...

double	set (size_t i, double v)
	Set i'th value in this Coordinate. More...

size_t	size () const
	Get number of values in this coordinate. More...

double	squaredNorm () const
	Passthrough to Eigen vector squaredNorm method. More...

template<typename ContainType >
void	to_array (ContainType &out) const
	Outputs this Coordinates values to the referenced container. More...

void	to_container (madara::knowledge::containers::NativeDoubleVector &container) const
	Assign values into a NativeDoubleVector container. More...

std::string	to_string (const std::string &delimiter=",", const std::string &unset_identifier="<unset>") const
	Returns a string of the values x, y, z. More...

Static Public Member Functions
static constexpr bool	fixed ()
	Is this coordinate a fixed vector? More...

static constexpr bool	free ()
	Is this coordinate a free vector? More...

static constexpr bool	positional ()
	Is this coordinate a positional one? More...

static constexpr bool	rotational ()
	Is this coordinate a rotational one? More...

Private Types
using	mixin = typename unit_traits< Units >::template mixin< Derived >

using	storage_mixin = typename unit_traits< Units >::storage_mixin

using	traits = unit_traits< Units >

Private Attributes
Eigen::Vector3d	vec_

Detailed Description

template<typename Derived, typename Units>
class gams::pose::BasicVector< Derived, Units >

For internal use. The underlying template for all coordinate types.

Definition at line 525 of file Coordinate.h.

Member Typedef Documentation

◆ derived_type

template<typename Derived , typename Units >

using gams::pose::BasicVector< Derived, Units >::derived_type = Derived

Definition at line 542 of file Coordinate.h.

◆ mixin

template<typename Derived , typename Units >

using gams::pose::BasicVector< Derived, Units >::mixin = typename unit_traits<Units>::template mixin<Derived>

private

Definition at line 534 of file Coordinate.h.

◆ storage_mixin

template<typename Derived , typename Units >

using gams::pose::BasicVector< Derived, Units >::storage_mixin = typename unit_traits<Units>::storage_mixin

private

Definition at line 533 of file Coordinate.h.

◆ traits

template<typename Derived , typename Units >

using gams::pose::BasicVector< Derived, Units >::traits = unit_traits<Units>

private

Definition at line 532 of file Coordinate.h.

◆ units_type

template<typename Derived , typename Units >

using gams::pose::BasicVector< Derived, Units >::units_type = Units

Definition at line 543 of file Coordinate.h.

Constructor & Destructor Documentation

◆ BasicVector() [1/2]

template<typename Derived , typename Units >

gams::pose::BasicVector< Derived, Units >::BasicVector ( )

default

◆ BasicVector() [2/2]

template<typename Derived , typename Units >

template<typename Derived2 >

gams::pose::BasicVector< Derived, Units >::BasicVector ( const BasicVector< Derived2, Units > & v )

inline

Construct from a vector of same units, but different derived type.

Definition at line 549 of file Coordinate.h.

Member Function Documentation

◆ cross()

template<typename Derived , typename Units >

template<typename Other >

Derived gams::pose::BasicVector< Derived, Units >::cross ( const BasicVector< Other, Units > & other ) const

inline

Passthrough to Eigen vector cross method.

Definition at line 714 of file Coordinate.h.

◆ dot()

template<typename Derived , typename Units >

template<typename Other >

double gams::pose::BasicVector< Derived, Units >::dot ( const BasicVector< Other, Units > & other ) const

inline

Passthrough to Eigen vector dot method.

Definition at line 705 of file Coordinate.h.

◆ fixed()

template<typename Derived , typename Units >

static constexpr bool gams::pose::BasicVector< Derived, Units >::fixed ( )

inlinestaticconstexpr

Is this coordinate a fixed vector?

Definition at line 561 of file Coordinate.h.

◆ free()

template<typename Derived , typename Units >

static constexpr bool gams::pose::BasicVector< Derived, Units >::free ( )

inlinestaticconstexpr

Is this coordinate a free vector?

Definition at line 558 of file Coordinate.h.

◆ from_array()

template<typename Derived , typename Units >

template<typename ContainType >

void gams::pose::BasicVector< Derived, Units >::from_array ( const ContainType & in )

inline

Overwrites this Coordinate's values with those pulled from the referenced array.

These values will be within this object's current reference frame. The container must support operator[],

If the array's size is smaller than the cardinality of this coordinate type, the behavior is undefined. If it is larger, the extra elements are ignored.

Template Parameters

ContainType the type of the container; must support operator[]

Parameters

in	the container to pull new values from.

Definition at line 637 of file Coordinate.h.

◆ from_container()

template<typename Derived , typename Units >

void gams::pose::BasicVector< Derived, Units >::from_container ( const madara::knowledge::containers::NativeDoubleVector & container )

inline

Assign values from a NativeDoubleVector container.

Parameters

container the container

Definition at line 693 of file Coordinate.h.

◆ get()

template<typename Derived , typename Units >

double gams::pose::BasicVector< Derived, Units >::get ( size_t i ) const

inline

Get i'th value in this Coordinate.

No range checking!

Definition at line 569 of file Coordinate.h.

◆ is_set()

template<typename Derived , typename Units >

bool gams::pose::BasicVector< Derived, Units >::is_set ( ) const

inline

Does this coordinate have any values not INVAL_COORD?

Definition at line 581 of file Coordinate.h.

◆ is_zero()

template<typename Derived , typename Units >

bool gams::pose::BasicVector< Derived, Units >::is_zero ( ) const

inline

Does this coordinate have values all zeroes?

Definition at line 592 of file Coordinate.h.

◆ norm()

template<typename Derived , typename Units >

double gams::pose::BasicVector< Derived, Units >::norm ( ) const

inline

Passthrough to Eigen vector norm method.

Definition at line 724 of file Coordinate.h.

◆ normalized()

template<typename Derived , typename Units >

Derived gams::pose::BasicVector< Derived, Units >::normalized ( ) const

inline

Passthrough to Eigen vector normalized method.

Definition at line 740 of file Coordinate.h.

◆ positional()

template<typename Derived , typename Units >

static constexpr bool gams::pose::BasicVector< Derived, Units >::positional ( )

inlinestaticconstexpr

Is this coordinate a positional one?

Definition at line 552 of file Coordinate.h.

◆ rotational()

template<typename Derived , typename Units >

static constexpr bool gams::pose::BasicVector< Derived, Units >::rotational ( )

inlinestaticconstexpr

Is this coordinate a rotational one?

Definition at line 555 of file Coordinate.h.

◆ set()

template<typename Derived , typename Units >

double gams::pose::BasicVector< Derived, Units >::set	(	size_t	i,
		double	v
	)

inline

Set i'th value in this Coordinate.

No range checking!

Parameters

i	the index of the coordinate
v	the value to set to

Returns: the new value

Definition at line 578 of file Coordinate.h.

◆ size()

template<typename Derived , typename Units >

size_t gams::pose::BasicVector< Derived, Units >::size ( void ) const

inline

Get number of values in this coordinate.

Definition at line 564 of file Coordinate.h.

◆ squaredNorm()

template<typename Derived , typename Units >

double gams::pose::BasicVector< Derived, Units >::squaredNorm ( ) const

inline

Passthrough to Eigen vector squaredNorm method.

Definition at line 732 of file Coordinate.h.

◆ to_array()

template<typename Derived , typename Units >

template<typename ContainType >

void gams::pose::BasicVector< Derived, Units >::to_array ( ContainType & out ) const

inline

Outputs this Coordinates values to the referenced container.

This container type must support operator[] for setting by index.

If the array's size is smaller than the cardinality of this coordinate type, the behavior is undefined. If it is larger, the extra elements are not changed.

The MADARA DoubleVector and NativeDoubleVector types are supported.

Template Parameters

ContainType the type of the container; must support "set"

Parameters

out	the container to put this Coordinate's values into.

Definition at line 616 of file Coordinate.h.

◆ to_container()

template<typename Derived , typename Units >

void gams::pose::BasicVector< Derived, Units >::to_container ( madara::knowledge::containers::NativeDoubleVector & container ) const

inline

Assign values into a NativeDoubleVector container.

Parameters

container the container

Definition at line 681 of file Coordinate.h.

◆ to_string()

template<typename Derived , typename Units >

std::string gams::pose::BasicVector< Derived, Units >::to_string	(	const std::string &	delimiter = `","`,
		const std::string &	unset_identifier = `"<unset>"`
	)		const

inline

Returns a string of the values x, y, z.

Parameters

delimiter	delimiter between values
unset_identifier	value to print if unset

Returns: stringified version of the Linear

Definition at line 651 of file Coordinate.h.

Member Data Documentation

◆ vec_

template<typename Derived , typename Units >

Eigen::Vector3d gams::pose::BasicVector< Derived, Units >::vec_

private

Definition at line 530 of file Coordinate.h.

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

src/gams/pose/Coordinate.h

Public Types

Public Member Functions

Static Public Member Functions

Private Types

Private Attributes

Detailed Description

template<typename Derived, typename Units> class gams::pose::BasicVector< Derived, Units >

Member Typedef Documentation

◆ derived_type

◆ mixin

◆ storage_mixin

◆ traits

◆ units_type

Constructor & Destructor Documentation

◆ BasicVector() [1/2]

◆ BasicVector() [2/2]

Member Function Documentation

◆ cross()

◆ dot()

◆ fixed()

◆ free()

◆ from_array()

◆ from_container()

◆ get()

◆ is_set()

◆ is_zero()

◆ norm()

◆ normalized()

◆ positional()

◆ rotational()

◆ set()

◆ size()

◆ squaredNorm()

◆ to_array()

◆ to_container()

◆ to_string()

Member Data Documentation

◆ vec_

template<typename Derived, typename Units>
class gams::pose::BasicVector< Derived, Units >