- Generated on Sat Jan 20 2024 00:56:20 for GAMS by
1.9.1
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GAMS
1.4.0
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Provides utility functions and classes for common tasks and needs. More...
Namespaces | |
| euler | |
| DEPRECATED: Provides classes here have been moved to gams::pose::euler. | |
| java | |
| Provides utility functions and classes for common Java tasks and needs. | |
| order | |
| DEPRECATED: Provides classes here have been moved to gams::pose::order. | |
| ros | |
Classes | |
| class | ArgumentParser |
| class | Containerize |
| A class meant to assist with retrieving information into GAMS containers. More... | |
| class | GPSPosition |
| A position in the global positioning system reference frame. More... | |
| class | Joystick |
| class | JoystickEvent |
| class | Position |
| A position in an x, y, z coordinate system. More... | |
| class | RadixLess |
| Compare object suitable for use with standard library. More... | |
Typedefs | |
| using | bad_coord_type = gams::pose::bad_coord_type |
| Thrown when a reference frame function is called with a Coordinate type (e.g., Pose, Location, Orientation) that frame does not support. More... | |
| typedef gams::pose::CartesianFrame | CartesianFrame |
| Locations represented as meters distance, in x, y, and z, from an origin Orientations represented in Axis Angle notation. More... | |
| template<typename CoordType > | |
| using | Coordinate = gams::pose::Coordinate< CoordType > |
| New coordinate types which are frame-dependant can inherit from this class. More... | |
| typedef gams::pose::GPSFrame | GPSFrame |
| Locations represented as GPS coordinates, and an altitude, assuming a spherical planet (by default, Earth): x is Latitude y is Longitude z is Altitude (above assumed perfectly spherical surface) Orientations represented in Axis Angle notation Axis rx points towards north pole Axis ry points west at current location Axis rz points upwards (i.e, normal vector) More... | |
| typedef std::vector< GPSPosition > | GpsPositions |
| typedef gams::pose::Position | Location |
| Represents a Location within a reference frame. More... | |
| using | LocationVector = gams::pose::LinearVector< gams::pose::Position > |
| Container for Location information, not bound to a frame. More... | |
| typedef gams::pose::Orientation | Orientation |
| Represents a orientation or orientation within a reference frame. More... | |
| typedef gams::pose::AngularVector | OrientationVector |
| Container for Orientation information, not bound to a frame. More... | |
| typedef gams::pose::Pose | Pose |
| Represents a combination of Location and Orientation within a single reference frame. More... | |
| typedef gams::pose::PoseVector | PoseVector |
| Container for Pose information, not bound to a frame. More... | |
| typedef std::vector< Position > | Positions |
| typedef gams::pose::Quaternion | Quaternion |
| Used internally to implement angle operations. More... | |
| typedef gams::pose::ReferenceFrame | ReferenceFrame |
| Base class for Reference Frames. More... | |
| typedef gams::pose::undefined_transform | undefined_transform |
| Thrown when an attempt is made to transform between two frame types, and there's not transform defined. More... | |
| typedef gams::pose::unrelated_frames | unrelated_frames |
| Thrown when an an attempt is made to transform between frames that do not belong to the same frame tree. More... | |
Functions | |
| madara::knowledge::KnowledgeVector | kmap2kvec (const madara::knowledge::KnowledgeMap &kmap) |
| Converts a knowledge map into a knowledge vector by adding the values from the map in numerical order (as defined by radix order: shorter strings always come before longer strings, and equal length strings are sorted in lexicographicaly order) More... | |
Variables | |
| static const gams::pose::detail::degrees_t | degrees |
| Degres unit flag; see Euler constructor Deprecated; use gams::pose::degrees instead. More... | |
| static const gams::pose::detail::radians_t | radians |
| Radians unit flag; see Euler constructor Deprecated; use gams::pose::radians instead. More... | |
| static const gams::pose::detail::revolutions_t | revolutions |
| Revolutions (i.e., 1 == 360 degrees) unit flag; see Euler constructor Deprecated; use gams::pose::revolutions instead. More... | |
Provides utility functions and classes for common tasks and needs.
| using gams::utility::bad_coord_type = typedef gams::pose::bad_coord_type |
Thrown when a reference frame function is called with a Coordinate type (e.g., Pose, Location, Orientation) that frame does not support.
| CoordType | The kind of Coordinate the error was raised for. |
Deprecated backwards compatibility aliases. Will be removed in v2
Definition at line 72 of file ReferenceFrame.h.
| typedef gams::pose::CartesianFrame gams::utility::CartesianFrame |
Locations represented as meters distance, in x, y, and z, from an origin Orientations represented in Axis Angle notation.
All conversions to/from child and parent CartesianFrames are supported. Conversions to/from a parent GPSFrame are supported, except converting GPSFrame to a child CartesianFrame that is orientd w.r.t. the GPSFrame Converting to GPSFrame from a orientd child Cartesian is supported.
Deprecated backwards compatibility typedef. Will be removed in v2
Definition at line 75 of file CartesianFrame.h.
| using gams::utility::Coordinate = typedef gams::pose::Coordinate<CoordType> |
New coordinate types which are frame-dependant can inherit from this class.
Pass the type of the child class as CoordType
New coordinate types must: – Inherit from Coordinate, and pass itself as template parameter – Inherit from a base class which does not inherit from Coordinate – That base class must: – Have a typedef BaseType which refers to itself – Implement operator== – Implement the following methods: static std::string name() // return the type's name static int size() // return # of values in representation double get(int i) const // return ith value of representation bool operator==(const BaseType &rhs) const BaseType &as_vec() // return *this const BaseType &as_vec() const // return *this
Additionally, new coordinate types should either: – Specialize the ReferenceFrame::*_within_frame templates; OR – Add new overloads for transform_to_origin, transform_from_origin, do_normalize, and calc_distance virtual methods in ReferenceFrame, and add transformation logic for those methods in the various frames
Definition at line 137 of file Coordinate.h.
| typedef gams::pose::GPSFrame gams::utility::GPSFrame |
Locations represented as GPS coordinates, and an altitude, assuming a spherical planet (by default, Earth): x is Latitude y is Longitude z is Altitude (above assumed perfectly spherical surface) Orientations represented in Axis Angle notation Axis rx points towards north pole Axis ry points west at current location Axis rz points upwards (i.e, normal vector)
Note that under this scheme, change in x and/or y position, while maintaining the same orientation angles, implies a orientation relative to the planet.
Distances at same altitude calculated as distance along great circle of sphere of radius planet_radius plus altitude. If altitude differs, great circle distance first calculated using lower of two altitudes, then distance calculated as follows: distance = sqrt(circle_distance ^ 2 + altitude_difference ^ 2)
This frame can have cartesian frames embedded within it, but cannot be embedded within any other frames at this time.
Deprecated backwards compatibility aliases. Will be removed in v2
Definition at line 90 of file GPSFrame.h.
| typedef std::vector<GPSPosition> gams::utility::GpsPositions |
Definition at line 284 of file GPSPosition.h.
Represents a Location within a reference frame.
This location always has x, y, and z coordinates, but interpretation of those coordinates can vary according to the reference frame.
Provides accessor methods to support non-cartesian coordinate systems:
lng/lat/alt for GPS-style systems rho/phi/r for Cylindrical systems theta/phi/r for Spherical systems northing/easting/zone/hemi/alt for UTM/USP systems
Each of the above are bound to x/y/z respectively.
Note that no checking is done to ensure that the correct accessors are used based on the actual ReferenceFrame type this Location is bound to. In particular, the UTM/USP accessors may produce strange values if the Location is not actually bound to a UTMFrame, but will not cause exceptions.
Deprecated backwards compatibility aliases. Will be removed in v2
Definition at line 103 of file Location.h.
| using gams::utility::LocationVector = typedef gams::pose::LinearVector<gams::pose::Position> |
Container for Location information, not bound to a frame.
Stores a 3-tuple, for x, y, and z.
Provides accessor methods to support non-cartesian coordinate systems:
lng/lat/alt for GPS-style systems rho/phi/r for Cylindrical systems theta/phi/r for Spherical systems northing/easting/zone/hemi/alt for UTM/USP systems
Each of the above are bound to x/y/z respectively
Deprecated backwards compatibility aliases. Will be removed in v2
Definition at line 79 of file Location.h.
Represents a orientation or orientation within a reference frame.
Uses axis-angle notation: a orientation is represented by a vector whose direction forms the axis of orientation, with angle of orientation equal to length of the vector.
All orientations about an axis follow the right hand role; if the origin is the center of your right hand, and your thumb is pointing in the positive direction of the orientation axis, orientations curve in the direction your fingers are pointing.
Deprecated backwards compatibility aliases. Will be removed in v2
Definition at line 94 of file Orientation.h.
| typedef gams::pose::AngularVector gams::utility::OrientationVector |
Container for Orientation information, not bound to a frame.
Uses axis-angle notation: a orientation is represented by a vector whose direction forms the axis of orientation, with angle of orientation equal to length of the vector.
All orientations about an axis follow the right hand role; if the origin is the center of your right hand, and your thumb is pointing in the positive direction of the orientation axis, orientations curve in the direction your fingers are pointing.
Deprecated backwards compatibility aliases. Will be removed in v2
Definition at line 79 of file Orientation.h.
| typedef gams::pose::Pose gams::utility::Pose |
| typedef std::vector<Position> gams::utility::Positions |
Definition at line 320 of file Position.h.
Used internally to implement angle operations.
Not reference-frame aware.
Deprecated backwards compatibility aliases. Will be removed in v2
Definition at line 72 of file Quaternion.h.
Base class for Reference Frames.
Inherit from this class if implementing a new reference frame. Otherwise, do not use directly.
If implementing a new reference frame, you will need to modify the transform_to_origin and transform_from_origin methods of the reference frames the new reference frame should be able to transform to and from.
Deprecated backwards compatibility aliases. Will be removed in v2
Definition at line 108 of file ReferenceFrame.h.
Thrown when an attempt is made to transform between two frame types, and there's not transform defined.
Note that between two frame types A and B, there are four different kinds of transforms, which must be defined individually: 1) From A as parent to B as its child 2) From A as child to B as its parent 3) From B as parent to A as its child 4) From B as child to A as its parent
Deprecated backwards compatibility aliases. Will be removed in v2
Definition at line 95 of file ReferenceFrame.h.
Thrown when an an attempt is made to transform between frames that do not belong to the same frame tree.
Deprecated backwards compatibility aliases. Will be removed in v2
Definition at line 80 of file ReferenceFrame.h.
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Converts a knowledge map into a knowledge vector by adding the values from the map in numerical order (as defined by radix order: shorter strings always come before longer strings, and equal length strings are sorted in lexicographicaly order)
keys which don't start with a digit are ignored
Definition at line 98 of file ArgumentParser.h.
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Degres unit flag; see Euler constructor Deprecated; use gams::pose::degrees instead.
Definition at line 69 of file AngleUnits.h.
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Radians unit flag; see Euler constructor Deprecated; use gams::pose::radians instead.
Definition at line 65 of file AngleUnits.h.
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Revolutions (i.e., 1 == 360 degrees) unit flag; see Euler constructor Deprecated; use gams::pose::revolutions instead.
Definition at line 73 of file AngleUnits.h.
1.9.1