#include <Pose.h>

Inheritance diagram for gams::pose::PoseVector:

Public Types
typedef BasicPose	BaseType

using	derived_type = PoseVector

using	units_type = units::absolute< units::length >

using	units_type = units::absolute< units::plane_angle >

Public Member Functions
bool	approximately_equal (const BasicPose< Derived2 > &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...

PositionVector &	as_location_vec ()

const PositionVector &	as_location_vec () const

OrientationVector &	as_orientation_vec ()
	Gets a reference to this object's Orientation part. More...

const OrientationVector &	as_orientation_vec () const
	Gets a const reference to this object's Orientation part. More...

PositionVector &	as_position_vec ()
	Gets a reference to this object's Position part. More...

const PositionVector &	as_position_vec () const
	Gets a const reference to this object's Position part. More...

BaseType &	as_vec ()
	Gets a reference to this object. More...

const BaseType &	as_vec () const
	Gets a const reference to this object. More...

PositionVector	cross (const BasicVector< Other, units::absolute< units::length > > &other) const
	Passthrough to Eigen vector cross method. More...

OrientationVector	cross (const BasicVector< Other, units::absolute< units::plane_angle > > &other) const
	Passthrough to Eigen vector cross method. More...

double	distance_to (const BasicPose< Derived2 > &target) const

double	dot (const BasicVector< Other, units::absolute< units::length > > &other) const
	Passthrough to Eigen vector dot method. More...

double	dot (const BasicVector< Other, units::absolute< units::plane_angle > > &other) const
	Passthrough to Eigen vector dot method. More...

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

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)
	Imports the pose from a MADARA container. More...

void	from_container (const std::vector< double > &container)
	Imports the pose from a STL vector container. More...

double	get (int i) const
	Retrives i'th coordinate, 0-indexed, in order x, y, z, rx, ry, rz. More...

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

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

bool	is_location_set () const

bool	is_location_zero () const

bool	is_orientation_set () const
	Tests if the orientation/orientation has been set. More...

bool	is_orientation_zero () const
	Tests if all orientation information is zero. More...

bool	is_position_set () const
	Tests if the position is set(valid). More...

bool	is_position_zero () const
	Tests if all position information is zero. More...

bool	is_set () const
	Tests if this Pose is invalid; i.e., any values are INVAL_COORD. More...

bool	is_zero () const
	Tests if all pose information is zero. More...

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

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

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

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

	operator BasicVector< Derived2, units::absolute< units::length >> () const

	operator BasicVector< Derived2, units::absolute< units::plane_angle >> () const

bool	operator== (const BasicPose &rhs) const
	Tests for exact equality. More...

PoseVector &	self ()

const PoseVector &	self () const

double	set (int i, double val)
	Sets i'th coordinate, 0-indexed, in order x, y, z, rx, ry, rz. More...

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

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

int	size () const
	Get the number of values this coordinate type uses. More...

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

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

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

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

void	to_container (madara::knowledge::containers::NativeDoubleVector &container) const
	Saves the pose to a MADARA 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, rx, ry, rz. More...

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

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	free ()
	Is this coordinate a free vector? More...

static std::string	name ()
	Get the name of this coordinate type. 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	Base = BasicPose< PoseVector >

using	mixin = typename unit_traits< units::absolute< units::length > >::template mixin< PositionVector >

using	storage_mixin = typename unit_traits< units::absolute< units::length > >::storage_mixin

using	traits = unit_traits< units::absolute< units::length > >

Private Attributes
Eigen::Vector3d	vec_

Static Private Attributes
static constexpr const char *	type_name = "PoseVector"

Detailed Description

Definition at line 388 of file Pose.h.

Member Typedef Documentation

◆ Base

using gams::pose::PoseVector::Base = BasicPose<PoseVector>

private

Definition at line 391 of file Pose.h.

◆ BaseType

typedef BasicPose gams::pose::BasicPose< PoseVector >::BaseType

inherited

Definition at line 282 of file Pose.h.

◆ derived_type

using gams::pose::BasicPose< PoseVector >::derived_type = PoseVector

inherited

Definition at line 76 of file Pose.h.

◆ mixin

using gams::pose::BasicVector< PositionVector , units::absolute< units::length > >::mixin = typename unit_traits<units::absolute< units::length > >::template mixin<PositionVector >

privateinherited

Definition at line 534 of file Coordinate.h.

◆ storage_mixin

using gams::pose::BasicVector< PositionVector , units::absolute< units::length > >::storage_mixin = typename unit_traits<units::absolute< units::length > >::storage_mixin

privateinherited

Definition at line 533 of file Coordinate.h.

◆ traits

using gams::pose::BasicVector< PositionVector , units::absolute< units::length > >::traits = unit_traits<units::absolute< units::length > >

privateinherited

Definition at line 532 of file Coordinate.h.

◆ units_type [1/2]

using gams::pose::BasicVector< OrientationVector , units::absolute< units::plane_angle > >::units_type = units::absolute< units::plane_angle >

inherited

Definition at line 543 of file Coordinate.h.

◆ units_type [2/2]

using gams::pose::BasicVector< PositionVector , units::absolute< units::length > >::units_type = units::absolute< units::length >

inherited

Definition at line 543 of file Coordinate.h.

Member Function Documentation

◆ approximately_equal()

bool gams::pose::BasicPose< PoseVector >::approximately_equal	(	const BasicPose< Derived2 > &	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 339 of file Pose.h.

◆ as_location_vec() [1/2]

PositionVector& gams::pose::BasicPose< PoseVector >::as_location_vec ( )

inherited

◆ as_location_vec() [2/2]

const PositionVector& gams::pose::BasicPose< PoseVector >::as_location_vec ( ) const

inherited

◆ as_orientation_vec() [1/2]

OrientationVector& gams::pose::BasicPose< PoseVector >::as_orientation_vec ( )

inherited

Gets a reference to this object's Orientation part.

Returns: reference to the OrientationVector

◆ as_orientation_vec() [2/2]

const OrientationVector& gams::pose::BasicPose< PoseVector >::as_orientation_vec ( ) const

inherited

Gets a const reference to this object's Orientation part.

Returns: const reference to the OrientationVector

◆ as_position_vec() [1/2]

PositionVector& gams::pose::BasicPose< PoseVector >::as_position_vec ( )

inherited

Gets a reference to this object's Position part.

Returns: reference to the PositionVector

◆ as_position_vec() [2/2]

const PositionVector& gams::pose::BasicPose< PoseVector >::as_position_vec ( ) const

inherited

Gets a const reference to this object's Position part.

Returns: const reference to the PositionVector

◆ as_vec() [1/2]

BaseType& gams::pose::BasicPose< PoseVector >::as_vec ( )

inherited

Gets a reference to this object.

Useful for derived types.

Returns: reference to this object.

◆ as_vec() [2/2]

const BaseType& gams::pose::BasicPose< PoseVector >::as_vec ( ) const

inherited

Gets a const reference to this object.

Useful for derived types.

Returns: const reference to this object.

◆ cross() [1/2]

PositionVector gams::pose::BasicVector< PositionVector , units::absolute< units::length > >::cross ( const BasicVector< Other, Units > & other ) const

inlineinherited

Passthrough to Eigen vector cross method.

Definition at line 714 of file Coordinate.h.

◆ cross() [2/2]

OrientationVector gams::pose::BasicVector< OrientationVector , units::absolute< units::plane_angle > >::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::BasicPose< PoseVector >::distance_to ( const BasicPose< Derived2 > & target ) const

inlineinherited

Definition at line 349 of file Pose.h.

◆ dot() [1/2]

double gams::pose::BasicVector< PositionVector , units::absolute< units::length > >::dot ( const BasicVector< Other, Units > & other ) const

inlineinherited

Passthrough to Eigen vector dot method.

Definition at line 705 of file Coordinate.h.

◆ dot() [2/2]

double gams::pose::BasicVector< OrientationVector , units::absolute< units::plane_angle > >::dot ( const BasicVector< Other, Units > & other ) const

inlineinherited

Passthrough to Eigen vector dot method.

Definition at line 705 of file Coordinate.h.

◆ fixed() [1/2]

static constexpr bool gams::pose::BasicVector< OrientationVector , units::absolute< units::plane_angle > >::fixed ( )

inlinestaticconstexprinherited

Is this coordinate a fixed vector?

Definition at line 561 of file Coordinate.h.

◆ fixed() [2/2]

static constexpr bool gams::pose::BasicVector< PositionVector , units::absolute< units::length > >::fixed ( )

inlinestaticconstexprinherited

Is this coordinate a fixed vector?

Definition at line 561 of file Coordinate.h.

◆ free() [1/2]

static constexpr bool gams::pose::BasicVector< PositionVector , units::absolute< units::length > >::free ( )

inlinestaticconstexprinherited

Is this coordinate a free vector?

Definition at line 558 of file Coordinate.h.

◆ free() [2/2]

static constexpr bool gams::pose::BasicVector< OrientationVector , units::absolute< units::plane_angle > >::free ( )

inlinestaticconstexprinherited

Is this coordinate a free vector?

Definition at line 558 of file Coordinate.h.

◆ from_array() [1/2]

void gams::pose::BasicVector< OrientationVector , units::absolute< units::plane_angle > >::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_array() [2/2]

void gams::pose::BasicVector< PositionVector , units::absolute< units::length > >::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() [1/2]

void gams::pose::BasicPose< PoseVector >::from_container ( const madara::knowledge::containers::NativeDoubleVector & container )

inherited

Imports the pose from a MADARA container.

Parameters

container the container to import from

◆ from_container() [2/2]

void gams::pose::BasicPose< PoseVector >::from_container ( const std::vector< double > & container )

inherited

Imports the pose from a STL vector container.

Parameters

container the container to import from

◆ get() [1/3]

double gams::pose::BasicPose< PoseVector >::get ( int i ) const

inherited

Retrives i'th coordinate, 0-indexed, in order x, y, z, rx, ry, rz.

Parameters

i the index

Returns: the i'th coordinate value

Exceptions

std::range_error if index is less than 0, or greater than 6

◆ get() [2/3]

double gams::pose::BasicVector< PositionVector , units::absolute< units::length > >::get ( size_t i ) const

inlineinherited

Get i'th value in this Coordinate.

No range checking!

Definition at line 569 of file Coordinate.h.

◆ get() [3/3]

double gams::pose::BasicVector< OrientationVector , units::absolute< units::plane_angle > >::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_location_set()

bool gams::pose::BasicPose< PoseVector >::is_location_set ( ) const

inherited

◆ is_location_zero()

bool gams::pose::BasicPose< PoseVector >::is_location_zero ( ) const

inherited

◆ is_orientation_set()

bool gams::pose::BasicPose< PoseVector >::is_orientation_set ( ) const

inherited

Tests if the orientation/orientation has been set.

Returns: true if orientation has been set to something valid

◆ is_orientation_zero()

bool gams::pose::BasicPose< PoseVector >::is_orientation_zero ( ) const

inherited

Tests if all orientation information is zero.

Returns: true if all orientation information is zero

◆ is_position_set()

bool gams::pose::BasicPose< PoseVector >::is_position_set ( ) const

inherited

Tests if the position is set(valid).

Returns: true if position has been set to something valid

◆ is_position_zero()

bool gams::pose::BasicPose< PoseVector >::is_position_zero ( ) const

inherited

Tests if all position information is zero.

Returns: true if all position information is zero

◆ is_set()

bool gams::pose::BasicPose< PoseVector >::is_set ( ) const

inherited

Tests if this Pose is invalid; i.e., any values are INVAL_COORD.

Returns: true if at least one value is INVAL_COORD

◆ is_zero()

bool gams::pose::BasicPose< PoseVector >::is_zero ( ) const

inherited

Tests if all pose information is zero.

If true, is_position_zero and is_orientation_zero are also true

Returns: true if all pose information is zero

◆ name()

static std::string gams::pose::BasicPose< PoseVector >::name ( )

staticinherited

Get the name of this coordinate type.

Returns: "Pose"

◆ norm() [1/2]

double gams::pose::BasicVector< PositionVector , units::absolute< units::length > >::norm ( ) const

inlineinherited

Passthrough to Eigen vector norm method.

Definition at line 724 of file Coordinate.h.

◆ norm() [2/2]

double gams::pose::BasicVector< OrientationVector , units::absolute< units::plane_angle > >::norm ( ) const

inlineinherited

Passthrough to Eigen vector norm method.

Definition at line 724 of file Coordinate.h.

◆ normalized() [1/2]

OrientationVector gams::pose::BasicVector< OrientationVector , units::absolute< units::plane_angle > >::normalized ( ) const

inlineinherited

Passthrough to Eigen vector normalized method.

Definition at line 740 of file Coordinate.h.

◆ normalized() [2/2]

PositionVector gams::pose::BasicVector< PositionVector , units::absolute< units::length > >::normalized ( ) const

inlineinherited

Passthrough to Eigen vector normalized method.

Definition at line 740 of file Coordinate.h.

◆ operator BasicVector< Derived2, units::absolute< units::length >>()

gams::pose::BasicPose< PoseVector >::operator BasicVector< Derived2, units::absolute< units::length >> ( ) const

inlineinherited

Definition at line 151 of file Pose.h.

◆ operator BasicVector< Derived2, units::absolute< units::plane_angle >>()

gams::pose::BasicPose< PoseVector >::operator BasicVector< Derived2, units::absolute< units::plane_angle >> ( ) const

inlineinherited

Definition at line 157 of file Pose.h.

◆ operator==()

bool gams::pose::BasicPose< PoseVector >::operator== ( const BasicPose< PoseVector > & rhs ) const

inherited

Tests for exact equality.

Parameters

rhs	the other pose to test against

Returns: true if all values equal corresponding values in other pose

◆ positional()

static constexpr bool gams::pose::BasicPose< PoseVector >::positional ( )

inlinestaticconstexprinherited

Is this coordinate a positional one?

Definition at line 142 of file Pose.h.

◆ rotational()

static constexpr bool gams::pose::BasicPose< PoseVector >::rotational ( )

inlinestaticconstexprinherited

Is this coordinate a rotational one?

Definition at line 145 of file Pose.h.

◆ self() [1/2]

PoseVector & gams::pose::BasicPose< PoseVector >::self ( )

inlineinherited

Definition at line 147 of file Pose.h.

◆ self() [2/2]

const PoseVector & gams::pose::BasicPose< PoseVector >::self ( ) const

inlineinherited

Definition at line 148 of file Pose.h.

◆ set() [1/3]

double gams::pose::BasicPose< PoseVector >::set	(	int	i,
		double	val
	)

inherited

Sets i'th coordinate, 0-indexed, in order x, y, z, rx, ry, rz.

Parameters

i	the index
val	the new value

Returns: the new i'th coordinate value

Exceptions

std::range_error if index is less than 0, or greater than 6

◆ set() [2/3]

double gams::pose::BasicVector< PositionVector , units::absolute< units::length > >::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.

◆ set() [3/3]

double gams::pose::BasicVector< OrientationVector , units::absolute< units::plane_angle > >::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()

int gams::pose::BasicPose< PoseVector >::size ( void ) const

inherited

Get the number of values this coordinate type uses.

Returns: 6

◆ squaredNorm() [1/2]

double gams::pose::BasicVector< OrientationVector , units::absolute< units::plane_angle > >::squaredNorm ( ) const

inlineinherited

Passthrough to Eigen vector squaredNorm method.

Definition at line 732 of file Coordinate.h.

◆ squaredNorm() [2/2]

double gams::pose::BasicVector< PositionVector , units::absolute< units::length > >::squaredNorm ( ) const

inlineinherited

Passthrough to Eigen vector squaredNorm method.

Definition at line 732 of file Coordinate.h.

◆ to_array() [1/2]

void gams::pose::BasicVector< OrientationVector , units::absolute< units::plane_angle > >::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_array() [2/2]

void gams::pose::BasicVector< PositionVector , units::absolute< units::length > >::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()

void gams::pose::BasicPose< PoseVector >::to_container ( madara::knowledge::containers::NativeDoubleVector & container ) const

inherited

Saves the pose to a MADARA container.

Parameters

container the container to save to

◆ to_string()

std::string gams::pose::BasicPose< PoseVector >::to_string	(	const std::string &	delimiter = `", "`,
		const std::string &	unset_identifier = `"<unset>"`
	)		const

inherited

Returns a string of the values x, y, z, rx, ry, rz.

Parameters

delimiter	delimiter between values
unset_identifier	if true, include unset values

Returns: stringified version of the Pose

Member Data Documentation

◆ type_name

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

staticconstexprprivate

Definition at line 394 of file Pose.h.

◆ vec_

Eigen::Vector3d gams::pose::BasicVector< PositionVector , units::absolute< units::length > >::vec_

privateinherited

Definition at line 530 of file Coordinate.h.

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

src/gams/pose/Pose.h

Public Types

Public Member Functions

Static Public Member Functions

Private Types

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

◆ Base

◆ BaseType

◆ derived_type

◆ mixin

◆ storage_mixin

◆ traits

◆ units_type [1/2]

◆ units_type [2/2]

Member Function Documentation

◆ approximately_equal()

◆ as_location_vec() [1/2]

◆ as_location_vec() [2/2]

◆ as_orientation_vec() [1/2]

◆ as_orientation_vec() [2/2]

◆ as_position_vec() [1/2]

◆ as_position_vec() [2/2]

◆ as_vec() [1/2]

◆ as_vec() [2/2]

◆ cross() [1/2]

◆ cross() [2/2]

◆ distance_to()

◆ dot() [1/2]

◆ dot() [2/2]

◆ fixed() [1/2]

◆ fixed() [2/2]

◆ free() [1/2]

◆ free() [2/2]

◆ from_array() [1/2]

◆ from_array() [2/2]

◆ from_container() [1/2]

◆ from_container() [2/2]

◆ get() [1/3]

◆ get() [2/3]

◆ get() [3/3]

◆ is_location_set()

◆ is_location_zero()

◆ is_orientation_set()

◆ is_orientation_zero()

◆ is_position_set()

◆ is_position_zero()

◆ is_set()

◆ is_zero()

◆ name()

◆ norm() [1/2]

◆ norm() [2/2]

◆ normalized() [1/2]

◆ normalized() [2/2]

◆ operator BasicVector< Derived2, units::absolute< units::length >>()

◆ operator BasicVector< Derived2, units::absolute< units::plane_angle >>()

◆ operator==()

◆ positional()

◆ rotational()

◆ self() [1/2]

◆ self() [2/2]

◆ set() [1/3]

◆ set() [2/3]

◆ set() [3/3]

◆ size()

◆ squaredNorm() [1/2]

◆ squaredNorm() [2/2]

◆ to_array() [1/2]

◆ to_array() [2/2]

◆ to_container()

◆ to_string()

Member Data Documentation

◆ type_name

◆ vec_