#include <Pose.h>

Inheritance diagram for gams::pose::Pose:

Public Types
using	Base = Framed< BasicPose< Pose > >

typedef BasicPose	BaseType

using	derived_type = typename Impl::derived_type

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

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

Public Member Functions
	Pose ()=default

	Pose (const Orientation &ori)

	Pose (const Position &pos)

	Pose (const Position &pos, const Orientation &ori)

	Pose (const StampedOrientation &ori)

	Pose (const StampedPosition &pos)

	Pose (const StampedPosition &pos, const StampedOrientation &ori)

double	angle_to (const Orientation &target) const
	Finds angle to the target; transforms target to this frame if needed. More...

template<typename U >
double	angle_to (const Orientation &target, U u) const
	Finds angle to the target; transforms target to this frame if needed. More...

double	angle_to (const Pose &target) const
	Finds angle to the target; transforms target to this frame if needed. More...

template<typename U >
double	angle_to (const Pose &target, U u) const
	Finds angle to the target; transforms target to this frame if needed. More...

template<typename Derived2 >
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...

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...

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...

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

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

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...

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...

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...

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

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

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

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

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

	operator Orientation () const
	Castig operator to extract Orientation from this Pose. More...

	operator Position () const
	Casting operator to extract Position from this Pose. More...

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

Derived &	self ()

const Derived &	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...

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	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...

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

Private Types
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
ReferenceFrame	frame_

Eigen::Vector3d	vec_

Detailed Description

Definition at line 397 of file Pose.h.

Member Typedef Documentation

◆ Base

using gams::pose::Pose::Base = Framed<BasicPose<Pose> >

Definition at line 401 of file Pose.h.

◆ BaseType

template<typename Derived >

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

inherited

Definition at line 282 of file Pose.h.

◆ derived_type

using gams::pose::Framed< BasicPose< Pose > >::derived_type = typename Impl::derived_type

inherited

Definition at line 111 of file Framed.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.

Constructor & Destructor Documentation

◆ Pose() [1/7]

gams::pose::Pose::Pose ( )

default

◆ Pose() [2/7]

gams::pose::Pose::Pose ( const Position & pos )

inline

Definition at line 408 of file Pose.h.

◆ Pose() [3/7]

gams::pose::Pose::Pose ( const StampedPosition & pos )

inline

Definition at line 411 of file Pose.h.

◆ Pose() [4/7]

gams::pose::Pose::Pose ( const Orientation & ori )

inline

Definition at line 414 of file Pose.h.

◆ Pose() [5/7]

gams::pose::Pose::Pose ( const StampedOrientation & ori )

inline

Definition at line 417 of file Pose.h.

◆ Pose() [6/7]

gams::pose::Pose::Pose	(	const Position &	pos,
		const Orientation &	ori
	)

inline

Definition at line 420 of file Pose.h.

◆ Pose() [7/7]

gams::pose::Pose::Pose	(	const StampedPosition &	pos,
		const StampedOrientation &	ori
	)

inline

Definition at line 423 of file Pose.h.

Member Function Documentation

◆ angle_to() [1/4]

double gams::pose::Pose::angle_to ( const Orientation & target ) const

Finds angle to the target; transforms target to this frame if needed.

Parameters

target the target orientation

Returns: shortest angle to map this pose's onto the given orientation

◆ angle_to() [2/4]

template<typename U >

double gams::pose::Pose::angle_to	(	const Orientation &	target,
		U	u
	)		const

Finds angle to the target; transforms target to this frame if needed.

Parameters

target the target orientation

Returns: shortest angle to map this pose's onto the given orientation

◆ angle_to() [3/4]

double gams::pose::Pose::angle_to ( const Pose & target ) const

Finds angle to the target; transforms target to this frame if needed.

Parameters

target the pose with the target orientation

Returns: shortest angle to map this pose's orientation onto the other pose

◆ angle_to() [4/4]

template<typename U >

double gams::pose::Pose::angle_to	(	const Pose &	target,
		U	u
	)		const

Finds angle to the target; transforms target to this frame if needed.

Parameters

target the pose with the target orientation

Returns: shortest angle to map this pose's orientation onto the other pose

◆ approximately_equal() [1/2]

template<typename Derived >

template<typename Derived2 >

bool gams::pose::BasicPose< Derived >::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.

◆ approximately_equal() [2/2]

bool gams::pose::Framed< BasicPose< Pose > >::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.

◆ as_location_vec() [1/2]

template<typename Derived >

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

inherited

◆ as_location_vec() [2/2]

template<typename Derived >

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

inherited

◆ as_orientation_vec() [1/2]

template<typename Derived >

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

inherited

Gets a reference to this object's Orientation part.

Returns: reference to the OrientationVector

◆ as_orientation_vec() [2/2]

template<typename Derived >

const OrientationVector& gams::pose::BasicPose< Derived >::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]

template<typename Derived >

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

inherited

Gets a reference to this object's Position part.

Returns: reference to the PositionVector

◆ as_position_vec() [2/2]

template<typename Derived >

const PositionVector& gams::pose::BasicPose< Derived >::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]

template<typename Derived >

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

inherited

Gets a reference to this object.

Useful for derived types.

Returns: reference to this object.

◆ as_vec() [2/2]

template<typename Derived >

const BaseType& gams::pose::BasicPose< Derived >::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() [1/2]

template<typename Derived >

template<typename Derived2 >

double gams::pose::BasicPose< Derived >::distance_to ( const BasicPose< Derived2 > & target ) const

inlineinherited

Definition at line 349 of file Pose.h.

◆ distance_to() [2/2]

double gams::pose::Framed< BasicPose< Pose > >::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() [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< PositionVector , units::absolute< units::length > >::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< OrientationVector , units::absolute< units::plane_angle > >::fixed ( )

inlinestaticconstexprinherited

Is this coordinate a fixed vector?

Definition at line 561 of file Coordinate.h.

◆ frame() [1/2]

const ReferenceFrame& gams::pose::Framed< BasicPose< Pose > >::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< BasicPose< Pose > >::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() [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]

template<typename Derived >

void gams::pose::BasicPose< Derived >::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]

template<typename Derived >

void gams::pose::BasicPose< Derived >::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]

template<typename Derived >

double gams::pose::BasicPose< Derived >::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()

template<typename Derived >

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

inherited

◆ is_location_zero()

template<typename Derived >

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

inherited

◆ is_orientation_set()

template<typename Derived >

bool gams::pose::BasicPose< Derived >::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()

template<typename Derived >

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

inherited

Tests if all orientation information is zero.

Returns: true if all orientation information is zero

◆ is_position_set()

template<typename Derived >

bool gams::pose::BasicPose< Derived >::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()

template<typename Derived >

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

inherited

Tests if all position information is zero.

Returns: true if all position information is zero

◆ is_set()

template<typename Derived >

bool gams::pose::BasicPose< Derived >::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()

template<typename Derived >

bool gams::pose::BasicPose< Derived >::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()

template<typename Derived >

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

staticinherited

Get the name of this coordinate type.

Returns: "Pose"

◆ norm() [1/2]

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.

◆ norm() [2/2]

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.

◆ normalize()

void gams::pose::Framed< BasicPose< Pose > >::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() [1/2]

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.

◆ normalized() [2/2]

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.

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

template<typename Derived >

template<typename Derived2 >

gams::pose::BasicPose< Derived >::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 >>()

template<typename Derived >

template<typename Derived2 >

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

inlineinherited

Definition at line 157 of file Pose.h.

◆ operator Orientation()

gams::pose::Pose::operator Orientation ( ) const

Castig operator to extract Orientation from this Pose.

Returns: Orientation with same frame as this pose, and same rx/ry/rz values

◆ operator Position()

gams::pose::Pose::operator Position ( ) const

Casting operator to extract Position from this Pose.

Returns: Position with same frame as this pose, and same x/y/z values

◆ operator==()

template<typename Derived >

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

template<typename Derived >

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

inlinestaticconstexprinherited

Is this coordinate a positional one?

Definition at line 142 of file Pose.h.

◆ rotational()

template<typename Derived >

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

inlinestaticconstexprinherited

Is this coordinate a rotational one?

Definition at line 145 of file Pose.h.

◆ self() [1/2]

template<typename Derived >

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

inlineinherited

Definition at line 147 of file Pose.h.

◆ self() [2/2]

template<typename Derived >

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

inlineinherited

Definition at line 148 of file Pose.h.

◆ set() [1/3]

template<typename Derived >

double gams::pose::BasicPose< Derived >::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()

template<typename Derived >

int gams::pose::BasicPose< Derived >::size ( ) const

inherited

Get the number of values this coordinate type uses.

Returns: 6

◆ squaredNorm() [1/2]

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.

◆ squaredNorm() [2/2]

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.

◆ to_array() [1/2]

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_array() [2/2]

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_container()

template<typename Derived >

void gams::pose::BasicPose< Derived >::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()

template<typename Derived >

std::string gams::pose::BasicPose< Derived >::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

◆ transform_this_to()

void gams::pose::Framed< BasicPose< Pose > >::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< BasicPose< Pose > >::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< BasicPose< Pose > >::frame_

privateinherited

Definition at line 278 of file Framed.h.

◆ type_name

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

staticconstexpr

Definition at line 404 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

Static Public Attributes

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

◆ Base

◆ BaseType

◆ derived_type

◆ mixin

◆ storage_mixin

◆ traits

◆ units_type [1/2]

◆ units_type [2/2]

Constructor & Destructor Documentation

◆ Pose() [1/7]

◆ Pose() [2/7]

◆ Pose() [3/7]

◆ Pose() [4/7]

◆ Pose() [5/7]

◆ Pose() [6/7]

◆ Pose() [7/7]

Member Function Documentation

◆ angle_to() [1/4]

◆ angle_to() [2/4]

◆ angle_to() [3/4]

◆ angle_to() [4/4]

◆ approximately_equal() [1/2]

◆ approximately_equal() [2/2]

◆ 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() [1/2]

◆ distance_to() [2/2]

◆ dot() [1/2]

◆ dot() [2/2]

◆ fixed() [1/2]

◆ fixed() [2/2]

◆ frame() [1/2]

◆ frame() [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]

◆ normalize()

◆ normalized() [1/2]

◆ normalized() [2/2]

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

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

◆ operator Orientation()

◆ operator Position()

◆ operator==()

◆ positional()

◆ rotational()

◆ self() [1/2]