#include <Coordinate.h>

Inheritance diagram for gams::pose::AngularAcceleration:

Public Types
using	Base = Framed< BasicVector< AngularAcceleration, units::angular_acceleration > >

using	derived_type = typename Impl::derived_type

using	units_type = Units

Public Member Functions
	AngularAcceleration ()=default

	AngularAcceleration (AngularAccelerationVector o)

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...

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

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

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

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...

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

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

	operator AngularAccelerationVector () const

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...

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...

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...

Static Public Attributes
static constexpr const char *	type_name = "AngularAcceleration"

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
ReferenceFrame	frame_

Eigen::Vector3d	vec_

Detailed Description

Definition at line 1228 of file Coordinate.h.

Member Typedef Documentation

◆ Base

using gams::pose::AngularAcceleration::Base = Framed<BasicVector< AngularAcceleration , units::angular_acceleration > >

Definition at line 1228 of file Coordinate.h.

◆ derived_type

using gams::pose::Framed< BasicVector< AngularAcceleration, units::angular_acceleration > >::derived_type = typename Impl::derived_type

inherited

Definition at line 111 of file Framed.h.

◆ mixin

template<typename Derived , typename Units >

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

privateinherited

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

privateinherited

Definition at line 533 of file Coordinate.h.

◆ traits

template<typename Derived , typename Units >

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

privateinherited

Definition at line 532 of file Coordinate.h.

◆ units_type

template<typename Derived , typename Units >

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

inherited

Definition at line 543 of file Coordinate.h.

Constructor & Destructor Documentation

◆ AngularAcceleration() [1/2]

gams::pose::AngularAcceleration::AngularAcceleration ( AngularAccelerationVector o )

inline

Definition at line 1228 of file Coordinate.h.

◆ AngularAcceleration() [2/2]

gams::pose::AngularAcceleration::AngularAcceleration ( )

default

Member Function Documentation

◆ approximately_equal()

bool gams::pose::Framed< BasicVector< AngularAcceleration, units::angular_acceleration > >::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.

◆ cross()

template<typename Derived , typename Units >

template<typename Other >

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

inlineinherited

Passthrough to Eigen vector cross method.

Definition at line 714 of file Coordinate.h.

◆ distance_to()

double gams::pose::Framed< BasicVector< AngularAcceleration, units::angular_acceleration > >::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.

◆ dot()

template<typename Derived , typename Units >

template<typename Other >

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

inlineinherited

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 ( )

inlinestaticconstexprinherited

Is this coordinate a fixed vector?

Definition at line 561 of file Coordinate.h.

◆ frame() [1/2]

const ReferenceFrame& gams::pose::Framed< BasicVector< AngularAcceleration, units::angular_acceleration > >::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]

ReferenceFrame gams::pose::Framed< BasicVector< AngularAcceleration, units::angular_acceleration > >::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.

◆ free()

template<typename Derived , typename Units >

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

inlinestaticconstexprinherited

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 )

inlineinherited

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 )

inlineinherited

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

inlineinherited

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

inlineinherited

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

inlineinherited

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

inlineinherited

Passthrough to Eigen vector norm method.

Definition at line 724 of file Coordinate.h.

◆ normalize()

void gams::pose::Framed< BasicVector< AngularAcceleration, units::angular_acceleration > >::normalize ( )

inherited

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

Typically useful for Coordinate types which incorporate angles.

Requres "ReferenceFrame.h"

◆ normalized()

template<typename Derived , typename Units >

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

inlineinherited

Passthrough to Eigen vector normalized method.

Definition at line 740 of file Coordinate.h.

◆ operator AngularAccelerationVector()

gams::pose::AngularAcceleration::operator AngularAccelerationVector ( ) const

inline

Definition at line 1228 of file Coordinate.h.

◆ positional()

template<typename Derived , typename Units >

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

inlinestaticconstexprinherited

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 ( )

inlinestaticconstexprinherited

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
	)

inlineinherited

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

inlineinherited

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

inlineinherited

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

inlineinherited

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

inlineinherited

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

inlineinherited

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.

◆ transform_this_to()

void gams::pose::Framed< BasicVector< AngularAcceleration, units::angular_acceleration > >::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()

derived_type WARN_UNUSED gams::pose::Framed< BasicVector< AngularAcceleration, units::angular_acceleration > >::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_

ReferenceFrame gams::pose::Framed< BasicVector< AngularAcceleration, units::angular_acceleration > >::frame_

privateinherited

Definition at line 278 of file Framed.h.

◆ type_name

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

staticconstexpr

Definition at line 1228 of file Coordinate.h.

◆ vec_

template<typename Derived , typename Units >

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

privateinherited

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

Static Public Attributes

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Base

◆ derived_type

◆ mixin

◆ storage_mixin

◆ traits

◆ units_type

Constructor & Destructor Documentation

◆ AngularAcceleration() [1/2]

◆ AngularAcceleration() [2/2]

Member Function Documentation

◆ approximately_equal()

◆ cross()

◆ distance_to()

◆ dot()

◆ fixed()

◆ frame() [1/2]

◆ frame() [2/2]

◆ free()

◆ from_array()

◆ from_container()

◆ get()

◆ is_set()

◆ is_zero()

◆ norm()

◆ normalize()

◆ normalized()

◆ operator AngularAccelerationVector()

◆ positional()

◆ rotational()

◆ set()

◆ size()

◆ squaredNorm()

◆ to_array()

◆ to_container()

◆ to_string()

◆ transform_this_to()

◆ transform_to()

Member Data Documentation

◆ frame_

◆ type_name

◆ vec_