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

#include <ReferenceFrame.h>

Public Member Functions
	FrameStore (madara::knowledge::KnowledgeBase kb)
	Constructor for FrameStore Uses default FrameEvalSettings Uses ReferenceFrame::default_expiry() for expiration. More...

	FrameStore (madara::knowledge::KnowledgeBase kb, FrameEvalSettings settings)
	Constructor for FrameStore Uses ReferenceFrame::default_expiry() for expiration. More...

	FrameStore (madara::knowledge::KnowledgeBase kb, FrameEvalSettings settings, uint64_t expiry)
	Primary constructor for FrameStore. More...

	FrameStore (madara::knowledge::KnowledgeBase kb, uint64_t expiry)
	Constructor for FrameStore Uses default FrameEvalSettings. More...

uint64_t	expiry () const
	Return the current expiry for all frames saved with this FrameStore See ReferenceFrame::expiry(uint64_t) for details of expiration. More...

const madara::knowledge::KnowledgeBase &	kb () const
	Return the KnowledgeBase to load/save with this FrameStore. More...

ReferenceFrame	load (const std::string &id, uint64_t timestamp=ETERNAL)
	Load a single ReferenceFrame, by ID. More...

template<typename Container >
std::vector< ReferenceFrame >	load_tree (const Container &ids, uint64_t timestamp=ETERNAL) const
	Load ReferenceFrames, by ID, and their common ancestors. More...

template<typename InputIterator >
std::vector< ReferenceFrame >	load_tree (InputIterator begin, InputIterator end, uint64_t timestamp=ETERNAL) const
	Load ReferenceFrames, by ID, and their common ancestors. More...

void	save (const ReferenceFrame &frame) const
	Save a ReferenceFrame to the knowledge base, The saved frames will be marked with their timestamp for later retrieval. More...

const FrameEvalSettings &	settings () const
	Return the current settings for frames saved/loaded with this FrameStore. More...

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

static const uint64_t	TEMP = ReferenceFrameIdentity::TEMP

Private Attributes
uint64_t	expiry_

madara::knowledge::KnowledgeBase	kb_

FrameEvalSettings	settings_ = FrameEvalSettings::DEFAULT

Detailed Description

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

This class itself is immutable, and thus trivially thread-safe.

Definition at line 1123 of file ReferenceFrame.h.

Constructor & Destructor Documentation

◆ FrameStore() [1/4]

gams::pose::FrameStore::FrameStore	(	madara::knowledge::KnowledgeBase	kb,
		FrameEvalSettings	settings,
		uint64_t	expiry
	)

inline

Primary constructor for FrameStore.

Parameters

kb	the KnowledgeBase to use
prefix	within the KnowledgeBase to use
expiry	expiration to use for all saves

Definition at line 1146 of file ReferenceFrame.h.

◆ FrameStore() [2/4]

gams::pose::FrameStore::FrameStore	(	madara::knowledge::KnowledgeBase	kb,
		FrameEvalSettings	settings
	)

inline

Constructor for FrameStore Uses ReferenceFrame::default_expiry() for expiration.

Parameters

kb	the KnowledgeBase to use
settings	to use

Definition at line 1157 of file ReferenceFrame.h.

◆ FrameStore() [3/4]

gams::pose::FrameStore::FrameStore	(	madara::knowledge::KnowledgeBase	kb,
		uint64_t	expiry
	)

inline

Constructor for FrameStore Uses default FrameEvalSettings.

Parameters

kb	the KnowledgeBase to use
expiry	expiration to use for all saves

Definition at line 1168 of file ReferenceFrame.h.

◆ FrameStore() [4/4]

gams::pose::FrameStore::FrameStore ( madara::knowledge::KnowledgeBase kb )

inline

Constructor for FrameStore Uses default FrameEvalSettings Uses ReferenceFrame::default_expiry() for expiration.

Parameters

kb	the KnowledgeBase to use

Definition at line 1179 of file ReferenceFrame.h.

Member Function Documentation

◆ expiry()

uint64_t gams::pose::FrameStore::expiry ( ) const

inline

Return the current expiry for all frames saved with this FrameStore See ReferenceFrame::expiry(uint64_t) for details of expiration.

Definition at line 1185 of file ReferenceFrame.h.

◆ kb()

const madara::knowledge::KnowledgeBase& gams::pose::FrameStore::kb ( ) const

inline

Return the KnowledgeBase to load/save with this FrameStore.

Definition at line 1191 of file ReferenceFrame.h.

◆ load()

ReferenceFrame gams::pose::FrameStore::load	(	const std::string &	id,
		uint64_t	timestamp = `ETERNAL`
	)

inline

Load a single ReferenceFrame, by ID.

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 imported ReferenceFrame, or an invalid frame if none exists.

Definition at line 1216 of file ReferenceFrame.h.

◆ load_tree() [1/2]

template<typename Container >

std::vector<ReferenceFrame> gams::pose::FrameStore::load_tree	(	const Container &	ids,
		uint64_t	timestamp = `ETERNAL`
	)		const

inline

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 1261 of file ReferenceFrame.h.

◆ load_tree() [2/2]

template<typename InputIterator >

std::vector<ReferenceFrame> gams::pose::FrameStore::load_tree	(	InputIterator	begin,
		InputIterator	end,
		uint64_t	timestamp = `ETERNAL`
	)		const

inline

Load ReferenceFrames, by ID, and their common ancestors.

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

Template Parameters

an	InputIterator, 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 1237 of file ReferenceFrame.h.

◆ save()

void gams::pose::FrameStore::save ( const ReferenceFrame & frame ) const

inline

Save a 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

frame the ReferenceFrame to store

Definition at line 1201 of file ReferenceFrame.h.

◆ settings()

const FrameEvalSettings& gams::pose::FrameStore::settings ( ) const

inline

Return the current settings for frames saved/loaded with this FrameStore.

Definition at line 1188 of file ReferenceFrame.h.

Member Data Documentation

◆ ETERNAL

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

static

Definition at line 1136 of file ReferenceFrame.h.

◆ expiry_

uint64_t gams::pose::FrameStore::expiry_

private

Definition at line 1133 of file ReferenceFrame.h.

◆ kb_

madara::knowledge::KnowledgeBase gams::pose::FrameStore::kb_

mutableprivate

Definition at line 1130 of file ReferenceFrame.h.

◆ settings_

FrameEvalSettings gams::pose::FrameStore::settings_ = FrameEvalSettings::DEFAULT

private

Definition at line 1132 of file ReferenceFrame.h.

◆ TEMP

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

static

Definition at line 1137 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 Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FrameStore() [1/4]

◆ FrameStore() [2/4]

◆ FrameStore() [3/4]

◆ FrameStore() [4/4]

Member Function Documentation

◆ expiry()

◆ kb()

◆ load()

◆ load_tree() [1/2]

◆ load_tree() [2/2]

◆ save()

◆ settings()

Member Data Documentation

◆ ETERNAL

◆ expiry_

◆ kb_

◆ settings_

◆ TEMP