A position in an x, y, z coordinate system. More...

#include <Position.h>

Inheritance diagram for gams::utility::Position:

Public Member Functions
	Position (const pose::Position &pos)

	Position (const Position &source)
	Copy constructor. More...

	Position (double init_x=DBL_MAX, double init_y=0.0, double init_z=0.0)
	Constructor. More...

virtual	~Position ()
	Destructor. More...

bool	approximately_equal (const Position &rhs, const double &epsilon) const
	Approximate equality. More...

bool	approximately_equal_2d (const Position &rhs, const double &epsilon) const
	Approximate equality. More...

void	direction_to (const Position &rhs, double &phi, double &theta) const
	Get spherical direction to position. More...

double	distance_to (const Position &rhs) const
	Get distance between two positions. More...

virtual double	distance_to_2d (const Position &end, const Position &check) const
	Get distance between a point and a line segment. More...

virtual double	distance_to_2d (const Position &rhs) const

virtual double	dot (const Position &p_2) const
	Dot product of two positions treated as vectors. More...

virtual void	from_container (madara::knowledge::containers::DoubleArray &source)
	Helper function for copying values to a MADARA double array. More...

virtual void	from_container (madara::knowledge::containers::NativeDoubleArray &source)
	Helper function for copying values to a MADARA double array. More...

virtual bool	is_between_2d (const Position &end, const Position &check) const
	Deterime if a third point is inline and between another two points. More...

bool	operator!= (const madara::knowledge::containers::DoubleArray &rhs) const
	Inequality operator. More...

bool	operator!= (const madara::knowledge::containers::NativeDoubleArray &rhs) const
	Inequality operator. More...

bool	operator!= (const Position &rhs) const
	Inequality operator. More...

bool	operator< (const Position &rhs) const
	Less than used for ordering in stl containers. More...

void	operator= (const Position &rhs)
	Assignment operator. More...

bool	operator== (const madara::knowledge::containers::DoubleArray &rhs) const
	Equality operator. More...

bool	operator== (const madara::knowledge::containers::NativeDoubleArray &rhs) const
	Equality operator. More...

bool	operator== (const Position &rhs) const
	Equality operator. More...

virtual bool	slope_2d (const Position &p, double &slope) const
	Get slope between two points. More...

virtual void	to_container (madara::knowledge::containers::DoubleArray &target) const
	Helper function for copying values to a MADARA double array. More...

virtual void	to_container (madara::knowledge::containers::NativeDoubleArray &target) const
	Helper function for copying values to a MADARA double array. More...

pose::Position	to_pos (const pose::ReferenceFrame &frame) const

std::string	to_string (const std::string &delimiter=",") const
	Helper function for converting the position to a string. More...

Static Public Member Functions
static Position	from_record (const madara::knowledge::KnowledgeRecord &record)
	Helper function for creating a Position from a KnowledgeRecord. More...

static Position	from_string (const std::string &delimiter=",")
	Helper function for creating a Position from a string. More...

Public Attributes
double	x
	the x coordinate(e.g. latitude) More...

double	y
	the y coordinate(e.g. longitude) More...

double	z
	the z coordinate(e.g. altitude) More...

Protected Member Functions
Position	operator* (const double &scale) const
	Scale the position. More...

Position	operator+ (const Position &rhs) const
	Addition operator performs element-wise addition. More...

Position	operator- (const Position &rhs) const
	Subtraction operator performs element-wise subtraction. More...

Detailed Description

A position in an x, y, z coordinate system.

DEPRECATED: use pose::Position instead. Will be removed in GAMS v2

Definition at line 77 of file Position.h.

Constructor & Destructor Documentation

◆ Position() [1/3]

gams::utility::Position::Position	(	double	init_x = `DBL_MAX`,
		double	init_y = `0.0`,
		double	init_z = `0.0`
	)

Constructor.

Parameters

init_x	the x axis coordinate(e.g. latitude)
init_y	the y axis coordinate(e.g. longitude)
init_z	the z axis coordinate(e.g. altitude)

◆ Position() [2/3]

gams::utility::Position::Position ( const Position & source )

Copy constructor.

Parameters

source the source to copy

◆ Position() [3/3]

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

inline

Definition at line 95 of file Position.h.

◆ ~Position()

virtual gams::utility::Position::~Position ( )

virtual

Destructor.

Member Function Documentation

◆ approximately_equal()

bool gams::utility::Position::approximately_equal	(	const Position &	rhs,
		const double &	epsilon
	)		const

Approximate equality.

Parameters

rhs	value to compare
epsilon	approximation value

Returns: true if position is within epsilon in each direction of this

◆ approximately_equal_2d()

bool gams::utility::Position::approximately_equal_2d	(	const Position &	rhs,
		const double &	epsilon
	)		const

Approximate equality.

Parameters

rhs	value to compare
epsilon	approximation value

Returns: true if position is within epsilon in each direction of this

◆ direction_to()

void gams::utility::Position::direction_to	(	const Position &	rhs,
		double &	phi,
		double &	theta
	)		const

Get spherical direction to position.

Parameters

rhs	other position
phi	direction in x/y plane
theta	direction in z plane

◆ distance_to()

double gams::utility::Position::distance_to ( const Position & rhs ) const

Get distance between two positions.

Parameters

rhs	second position

Returns: euclidean distance between the two points

◆ distance_to_2d() [1/2]

virtual double gams::utility::Position::distance_to_2d	(	const Position &	end,
		const Position &	check
	)		const

virtual

Get distance between a point and a line segment.

Parameters

end	end of line segment including *this
check	point to find distance for

Returns: distance from check to line including *this and end

◆ distance_to_2d() [2/2]

virtual double gams::utility::Position::distance_to_2d ( const Position & rhs ) const

virtual

Parameters

rhs	second position

Returns: euclidean distance between the two points with just x and y

◆ dot()

virtual double gams::utility::Position::dot ( const Position & p_2 ) const

virtual

Dot product of two positions treated as vectors.

Parameters

p_2	other position

Returns: dot product of the two positions

◆ from_container() [1/2]

virtual void gams::utility::Position::from_container ( madara::knowledge::containers::DoubleArray & source )

virtual

Helper function for copying values to a MADARA double array.

Parameters

source source container to copy values from

Reimplemented in gams::utility::GPSPosition.

◆ from_container() [2/2]

virtual void gams::utility::Position::from_container ( madara::knowledge::containers::NativeDoubleArray & source )

virtual

Helper function for copying values to a MADARA double array.

Parameters

source source container to copy values from

Reimplemented in gams::utility::GPSPosition.

◆ from_record()

static Position gams::utility::Position::from_record ( const madara::knowledge::KnowledgeRecord & record )

static

Helper function for creating a Position from a KnowledgeRecord.

Parameters

record a record containing a double array

Returns: the Position equivalent of the record

◆ from_string()

static Position gams::utility::Position::from_string ( const std::string & delimiter = "," )

static

Helper function for creating a Position from a string.

Parameters

delimiter characters to insert between position components

◆ is_between_2d()

virtual bool gams::utility::Position::is_between_2d	(	const Position &	end,
		const Position &	check
	)		const

virtual

Deterime if a third point is inline and between another two points.

Parameters

end	second endpoint
check	point to check

Returns: true if check is inline and between *this and end

◆ operator!=() [1/3]

bool gams::utility::Position::operator!= ( const madara::knowledge::containers::DoubleArray & rhs ) const

Inequality operator.

Parameters

rhs	value to compare

Returns: true if x, y, z are equal in both objects, false otherwise

◆ operator!=() [2/3]

bool gams::utility::Position::operator!= ( const madara::knowledge::containers::NativeDoubleArray & rhs ) const

Inequality operator.

Parameters

rhs	value to compare

Returns: true if x, y, z are equal in both objects, false otherwise

◆ operator!=() [3/3]

bool gams::utility::Position::operator!= ( const Position & rhs ) const

Inequality operator.

Parameters

rhs	value to compare

Returns: true if x, y, z are equal in both objects, false otherwise

◆ operator*()

Position gams::utility::Position::operator* ( const double & scale ) const

protected

Scale the position.

Parameters

scale factor to scale by

Returns: scaled version of *this

◆ operator+()

Position gams::utility::Position::operator+ ( const Position & rhs ) const

protected

Addition operator performs element-wise addition.

Parameters

rhs	value to add to *this

Returns: element-wise addition of *this and rhs

◆ operator-()

Position gams::utility::Position::operator- ( const Position & rhs ) const

protected

Subtraction operator performs element-wise subtraction.

Parameters

rhs	value to subtract from *this

Returns: element-wise subtraction of rhs from *this

◆ operator<()

bool gams::utility::Position::operator< ( const Position & rhs ) const

Less than used for ordering in stl containers.

Parameters

rhs	comparing position

Returns: true if *this is less than rhs

◆ operator=()

void gams::utility::Position::operator= ( const Position & rhs )

Assignment operator.

Parameters

rhs	values to copy

◆ operator==() [1/3]

bool gams::utility::Position::operator== ( const madara::knowledge::containers::DoubleArray & rhs ) const

Equality operator.

Parameters

rhs	value to compare

Returns: true if x, y, z are equal in both objects, false otherwise

◆ operator==() [2/3]

bool gams::utility::Position::operator== ( const madara::knowledge::containers::NativeDoubleArray & rhs ) const

Equality operator.

Parameters

rhs	value to compare

Returns: true if x, y, z are equal in both objects, false otherwise

◆ operator==() [3/3]

bool gams::utility::Position::operator== ( const Position & rhs ) const

Equality operator.

Parameters

rhs	value to compare

Returns: true if x, y, z are equal in both objects, false otherwise

◆ slope_2d()

virtual bool gams::utility::Position::slope_2d	(	const Position &	p,
		double &	slope
	)		const

virtual

Get slope between two points.

Parameters

p	other point
slope	location to store slope between two points

Returns: true if slope exists

◆ to_container() [1/2]

virtual void gams::utility::Position::to_container ( madara::knowledge::containers::DoubleArray & target ) const

virtual

Helper function for copying values to a MADARA double array.

Parameters

target target container to copy values to

Reimplemented in gams::utility::GPSPosition.

◆ to_container() [2/2]

virtual void gams::utility::Position::to_container ( madara::knowledge::containers::NativeDoubleArray & target ) const

virtual

Helper function for copying values to a MADARA double array.

Parameters

target target container to copy values to

Reimplemented in gams::utility::GPSPosition.

◆ to_pos()

pose::Position gams::utility::Position::to_pos ( const pose::ReferenceFrame & frame ) const

inline

Definition at line 98 of file Position.h.

◆ to_string()

std::string gams::utility::Position::to_string ( const std::string & delimiter = "," ) const

Helper function for converting the position to a string.

Parameters

delimiter characters to insert between position components

Member Data Documentation

◆ x

double gams::utility::Position::x

the x coordinate(e.g. latitude)

Definition at line 288 of file Position.h.

◆ y

double gams::utility::Position::y

the y coordinate(e.g. longitude)

Definition at line 291 of file Position.h.

◆ z

double gams::utility::Position::z

the z coordinate(e.g. altitude)

Definition at line 294 of file Position.h.

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

src/gams/utility/Position.h

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Position() [1/3]

◆ Position() [2/3]

◆ Position() [3/3]

◆ ~Position()

Member Function Documentation

◆ approximately_equal()

◆ approximately_equal_2d()

◆ direction_to()

◆ distance_to()

◆ distance_to_2d() [1/2]

◆ distance_to_2d() [2/2]

◆ dot()

◆ from_container() [1/2]

◆ from_container() [2/2]

◆ from_record()

◆ from_string()

◆ is_between_2d()

◆ operator!=() [1/3]

◆ operator!=() [2/3]

◆ operator!=() [3/3]

◆ operator*()

◆ operator+()

◆ operator-()

◆ operator<()

◆ operator=()

◆ operator==() [1/3]

◆ operator==() [2/3]

◆ operator==() [3/3]

◆ slope_2d()

◆ to_container() [1/2]

◆ to_container() [2/2]

◆ to_pos()

◆ to_string()

Member Data Documentation

◆ x

◆ y

◆ z