For internal use. More...

#include <ReferenceFrame.h>

Inheritance diagram for gams::pose::ReferenceFrameVersion:

Public Member Functions
template<typename P , typename std::enable_if< supports_transform_to< P >::value, void * >::type = nullptr>
	ReferenceFrameVersion (P &&origin, uint64_t timestamp=-1)
	Constructor from an origin, and optional timestamp. More...

template<typename P , typename std::enable_if< supports_transform_to< P >::value, void * >::type = nullptr>
	ReferenceFrameVersion (const ReferenceFrameType *type, P &&origin, uint64_t timestamp=-1)
	Constructor from a type, an origin, and optional timestamp. More...

template<typename P , typename std::enable_if< supports_transform_to< P >::value, void * >::type = nullptr>
	ReferenceFrameVersion (std::string name, P &&origin, uint64_t timestamp=-1)
	Constructor from a id, an origin, and optional timestamp. More...

template<typename P , typename std::enable_if< supports_transform_to< P >::value, void * >::type = nullptr>
	ReferenceFrameVersion (const ReferenceFrameType *type, std::string name, P &&origin, uint64_t timestamp=-1)
	Constructor from a type, id, an origin, and optional timestamp. More...

template<typename P , typename std::enable_if< supports_transform_to< P >::value, void * >::type = nullptr>
	ReferenceFrameVersion (std::shared_ptr< ReferenceFrameIdentity > ident, const ReferenceFrameType *type, P &&origin, uint64_t timestamp=-1)
	Constructor from an existing ReferenceFrameIdentity, an origin, and optional timestamp. More...

bool	has_id () const
	Does this frame have an ID? Frames gain an ID either at construction, or lazily as needed (by having the id() method, or save* methods called). More...

const std::string &	id () const
	Get the ID string of this frame. More...

const std::string *	id_ptr () const
	Get the ID string of this frame. More...

const ReferenceFrameIdentity &	ident () const
	Get the ReferenceFrameIdentity object associated with this frame, creating one with random ID if none exists. More...

ReferenceFrame	interpolate (const ReferenceFrame &other, ReferenceFrame parent, uint64_t time) const
	Interpolate a frame between the given frame; use the given parent. More...

bool	interpolated () const
	Returns true if this frame was interpolated from two stored frames. More...

std::string	key (const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT) const
	Returns the key that save() will use to store this frame. More...

ReferenceFrame	move (Position new_origin) const
	Creates a new ReferenceFrame with modified origin. More...

ReferenceFrame	move (const Position &new_origin, uint64_t timestamp) const
	Creates a new ReferenceFrame with modified origin and timestamp. More...

Pose &	mut_origin ()
	Gets the origin of this Frame. More...

const char *	name () const
	Returns a human-readable name for the reference frame type. More...

bool	operator!= (const ReferenceFrame &other) const
	Inequality operator. More...

bool	operator!= (const ReferenceFrameVersion &other) const
	Inequality operator. More...

bool	operator== (const ReferenceFrame &other) const
	Equality operator. More...

bool	operator== (const ReferenceFrameVersion &other) const
	Equality operator. More...

ReferenceFrame	orient (Orientation new_origin) const
	Creates a new ReferenceFrame with modified origin. More...

ReferenceFrame	orient (const Orientation &new_origin, uint64_t timestamp) const
	Creates a new ReferenceFrame with modified origin and timestamp. More...

const Pose &	origin () const
	Gets the origin of this Frame. More...

ReferenceFrame	origin_frame () const
	Gets the parent frame (the one the origin is within). More...

ReferenceFrame	pose (Pose new_origin) const
	Creates a new ReferenceFrame with modified origin. More...

ReferenceFrame	pose (const Pose &new_origin, uint64_t timestamp) const
	Creates a new ReferenceFrame with modified origin and timestamp. More...

void	save (madara::knowledge::KnowledgeBase &kb, uint64_t expiry, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT) const
	Save this ReferenceFrame to the knowledge base, The saved frames will be marked with their timestamp for later retrieval. More...

void	save (madara::knowledge::KnowledgeBase &kb, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT) const
	Save this ReferenceFrame to the knowledge base, The saved frames will be marked with their timestamp for later retrieval. More...

void	save_as (madara::knowledge::KnowledgeBase &kb, std::string key, uint64_t expiry, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT) const
	Save this ReferenceFrame to the knowledge base, with a specific key value. More...

void	save_as (madara::knowledge::KnowledgeBase &kb, std::string key, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT) const
	Save this ReferenceFrame to the knowledge base, with a specific key value. More...

uint64_t	timestamp () const
	Get the timestamp assigned to this frame. More...

ReferenceFrame	timestamp (uint64_t timestamp) const
	Clone the this frame, but with new timestamp. More...

const ReferenceFrameType *	type () const
	Retrieve the frame type object for this frame. More...

Static Public Member Functions
static const std::string &	default_prefix ()

template<typename ForwardIterator >
static uint64_t	latest_common_timestamp (madara::knowledge::KnowledgeBase &kb, ForwardIterator begin, ForwardIterator end, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT)
	Get the latest available timestamp in the knowledge base common to all the given ids. More...

template<typename Container >
static uint64_t	latest_common_timestamp (madara::knowledge::KnowledgeBase &kb, const Container &ids, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT)
	Get the latest available timestamp in the knowledge base common to all the given ids. More...

static uint64_t	latest_timestamp (madara::knowledge::KnowledgeBase &kb, const std::string &id, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT)
	Get the latest available timestamp in the knowledge base for the given id. More...

static ReferenceFrame	load (madara::knowledge::KnowledgeBase &kb, const std::string &id, uint64_t timestamp=-1, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT)
	Load a single ReferenceFrame, by ID and timestamp, interpolated if applicable. More...

static ReferenceFrame	load_exact (madara::knowledge::KnowledgeBase &kb, const std::string &id, uint64_t timestamp=-1, uint64_t parent_timestamp=-1, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT)
	Load a single ReferenceFrame, by ID and timestamp. More...

template<typename ForwardIterator >
static std::vector< ReferenceFrame >	load_tree (madara::knowledge::KnowledgeBase &kb, ForwardIterator begin, ForwardIterator end, uint64_t timestamp=-1, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT)
	Load ReferenceFrames, by ID, and their common ancestors. More...

template<typename Container >
static std::vector< ReferenceFrame >	load_tree (madara::knowledge::KnowledgeBase &kb, const Container &ids, uint64_t timestamp=-1, const FrameEvalSettings &settings=FrameEvalSettings::DEFAULT)
	Load ReferenceFrames, by ID, and their common ancestors. More...

Private Member Functions
bool	check_consistent () const

Static Private Member Functions
template<typename T >
static uint64_t	init_timestamp (uint64_t given, const T &p)

Private Attributes
std::shared_ptr< ReferenceFrameIdentity >	ident_

bool	interpolated_ = false

Pose	origin_

uint64_t	timestamp_ = -1

const ReferenceFrameType *	type_

Friends
template<typename CoordType >
class	Coordinate
	New coordinate types which are frame-dependant can inherit from this class. More...

Detailed Description

For internal use.

Use ReferenceFrame or FrameStore instead.

Represents a specific frame version; internal implementation of ReferenceFrame, behind a shared_ptr.

Definition at line 285 of file ReferenceFrame.h.

Constructor & Destructor Documentation

template<typename P , typename std::enable_if< supports_transform_to::value, void * >::type = nullptr>

gams::pose::ReferenceFrameVersion::ReferenceFrameVersion	(	P &&	origin,
		uint64_t	timestamp = `-1`
	)

inlineexplicit

Constructor from an origin, and optional timestamp.

Will be constructed with Cartesian type, and a random id.

Template Parameters

a	Coordinate type convertible to Pose

Parameters

origin	the origin of this frame, relative to another frame.
timestamp	the timestamp of this frame. By default, will be treated as "always most current".

Definition at line 319 of file ReferenceFrame.h.

template<typename P , typename std::enable_if< supports_transform_to::value, void * >::type = nullptr>

gams::pose::ReferenceFrameVersion::ReferenceFrameVersion	(	const ReferenceFrameType *	type,
		P &&	origin,
		uint64_t	timestamp = `-1`
	)

inline

Constructor from a type, an origin, and optional timestamp.

Will be constructed with a random id.

Template Parameters

a	Coordinate type convertible to Pose

Parameters

type	a pointer to a ReferenceFrameType struct; typically, either Cartesian, or GPS.
origin	the origin of this frame, relative to another frame.
timestamp	the timestamp of this frame. By default, will be treated as "always most current".

Definition at line 340 of file ReferenceFrame.h.

template<typename P , typename std::enable_if< supports_transform_to::value, void * >::type = nullptr>

gams::pose::ReferenceFrameVersion::ReferenceFrameVersion	(	std::string	name,
		P &&	origin,
		uint64_t	timestamp = `-1`
	)

inline

Constructor from a id, an origin, and optional timestamp.

Will be constructed with Cartesian type.

Template Parameters

a	Coordinate type convertible to Pose

Parameters

id	a string identifier for this frame.
origin	the origin of this frame, relative to another frame.
timestamp	the timestamp of this frame. By default, will be treated as "always most current".

Definition at line 360 of file ReferenceFrame.h.

template<typename P , typename std::enable_if< supports_transform_to::value, void * >::type = nullptr>

gams::pose::ReferenceFrameVersion::ReferenceFrameVersion	(	const ReferenceFrameType *	type,
		std::string	name,
		P &&	origin,
		uint64_t	timestamp = `-1`
	)

inline

Constructor from a type, id, an origin, and optional timestamp.

Template Parameters

a	Coordinate type convertible to Pose

Parameters

type	a pointer to a ReferenceFrameType struct; typically, either Cartesian, or GPS.
id	a string identifier for this frame.
origin	the origin of this frame, relative to another frame.
timestamp	the timestamp of this frame. By default, will be treated as "always most current".

Definition at line 382 of file ReferenceFrame.h.

template<typename P , typename std::enable_if< supports_transform_to::value, void * >::type = nullptr>

gams::pose::ReferenceFrameVersion::ReferenceFrameVersion	(	std::shared_ptr< ReferenceFrameIdentity >	ident,
		const ReferenceFrameType *	type,
		P &&	origin,
		uint64_t	timestamp = `-1`
	)

inline

Constructor from an existing ReferenceFrameIdentity, an origin, and optional timestamp.

Typical users should not use this constructor.

Template Parameters

a	Coordinate type convertible to Pose

Parameters

ident	shared_ptr to a ReferenceFrameIdentity, which holds type and id information.
id	a string identifier for this frame.
origin	the origin of this frame, relative to another frame.
timestamp	the timestamp of this frame. By default, will be treated as "always most current".

Definition at line 406 of file ReferenceFrame.h.

Member Function Documentation

bool gams::pose::ReferenceFrameVersion::check_consistent ( ) const

private

static const std::string& gams::pose::ReferenceFrameVersion::default_prefix ( )

inlinestatic

Definition at line 635 of file ReferenceFrame.h.

bool gams::pose::ReferenceFrameVersion::has_id ( ) const

inline

Does this frame have an ID? Frames gain an ID either at construction, or lazily as needed (by having the id() method, or save* methods called).

This method can be useful to prevent, e.g., logging code from incurring the overhead of generating an ID for an ephemeral frame.

Returns: true if this frame already has an ID, false if not

Definition at line 594 of file ReferenceFrame.h.

const std::string& gams::pose::ReferenceFrameVersion::id ( ) const

inline

Get the ID string of this frame.

Generates a random ID for this frame if it doesn't already have one. This ID will not change until this frame is destructed.

Definition at line 582 of file ReferenceFrame.h.

const std::string* gams::pose::ReferenceFrameVersion::id_ptr ( ) const

inline

Get the ID string of this frame.

Will not generate an ID if this frame doesn't have one. In that case, returns nullptr.

Returns: nullptr has_id() is false; otherwise, a pointer to the result of id()

Definition at line 605 of file ReferenceFrame.h.

const ReferenceFrameIdentity& gams::pose::ReferenceFrameVersion::ident ( ) const

inline

Get the ReferenceFrameIdentity object associated with this frame, creating one with random ID if none exists.

Definition at line 420 of file ReferenceFrame.h.

template<typename T >

static uint64_t gams::pose::ReferenceFrameVersion::init_timestamp	(	uint64_t	given,
		const T &	p
	)

inlinestaticprivate

Definition at line 297 of file ReferenceFrame.h.

ReferenceFrame gams::pose::ReferenceFrameVersion::interpolate	(	const ReferenceFrame &	other,
		ReferenceFrame	parent,
		uint64_t	time
	)		const

inline

Interpolate a frame between the given frame; use the given parent.

Note: no sanity checking is done. Ensure that parent has a compatible timestamp, and that this and other are the same frame at different times.

Parameters

other	the other frame to interpolate towards.
parent	the parent the returned frame will have.
time	the timestamp to interpolate at.

Returns: the interpolated frame.

Definition at line 900 of file ReferenceFrame.h.

bool gams::pose::ReferenceFrameVersion::interpolated ( ) const

inline

Returns true if this frame was interpolated from two stored frames.

If this frame is itself stored, it will no longer be considered as interpolated.

Definition at line 631 of file ReferenceFrame.h.

std::string gams::pose::ReferenceFrameVersion::key ( const FrameEvalSettings & settings = FrameEvalSettings::DEFAULT ) const

inline

Returns the key that save() will use to store this frame.

Definition at line 642 of file ReferenceFrame.h.

template<typename ForwardIterator >

static uint64_t gams::pose::ReferenceFrameVersion::latest_common_timestamp	(	madara::knowledge::KnowledgeBase &	kb,
		ForwardIterator	begin,
		ForwardIterator	end,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`
	)

inlinestatic

Get the latest available timestamp in the knowledge base common to all the given ids.

Will return -1 if no common timestamp is available.

Parameters

kb	the knowledge base to search
begin	iterator which derences to std::string
end	ending iterator

Template Parameters

ForwardIterator a ForwardIterator type such as std::vector::iterator

Returns: the latest timestamp for the id in kb. If timestamp -1 is available, that will be returned.

Definition at line 747 of file ReferenceFrame.h.

template<typename Container >

static uint64_t gams::pose::ReferenceFrameVersion::latest_common_timestamp	(	madara::knowledge::KnowledgeBase &	kb,
		const Container &	ids,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`
	)

inlinestatic

Get the latest available timestamp in the knowledge base common to all the given ids.

Will return -1 if no common timestamp is available.

Parameters

kb	the knowledge base to search
container	container of std::string

Template Parameters

Container a container type (such as std::vector)

Returns: the latest timestamp for the id in kb. If timestamp -1 is available, that will be returned.

Definition at line 780 of file ReferenceFrame.h.

static uint64_t gams::pose::ReferenceFrameVersion::latest_timestamp	(	madara::knowledge::KnowledgeBase &	kb,
		const std::string &	id,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`
	)

static

Get the latest available timestamp in the knowledge base for the given id.

Parameters

kb	the knowledge base to search
id	the id to search for

Returns: the latest timestamp for the id in kb. If timestamp -1 is available, that will be returned.

static ReferenceFrame gams::pose::ReferenceFrameVersion::load	(	madara::knowledge::KnowledgeBase &	kb,
		const std::string &	id,
		uint64_t	timestamp = `-1`,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`
	)

static

Load a single ReferenceFrame, by ID and timestamp, interpolated if applicable.

Parameters

id	the ID of the frame to load
timestamp	if -1, gets the latest frame (no interpolation) Otherwise, gets the frame at a specified timestamp, interpolated necessary.

Returns: the loaded ReferenceFrame, or an invalid frame if none exists.

static ReferenceFrame gams::pose::ReferenceFrameVersion::load_exact	(	madara::knowledge::KnowledgeBase &	kb,
		const std::string &	id,
		uint64_t	timestamp = `-1`,
		uint64_t	parent_timestamp = `-1`,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`
	)

static

Load a single ReferenceFrame, by ID and timestamp.

Will not interpolate. Returns an invalid frame if none exists with given ID and timestamp.

Parameters

id	the ID of the frame to load
timestamp	of frame to load. -1 is matched exactly; it will only return a frame if one with that timestamp exists.
parent_timsteamp	timestamp of parent to load. Parent is loaded using load()

Returns: the loaded ReferenceFrame, or an invalid frame if none exists.

template<typename ForwardIterator >

static std::vector<ReferenceFrame> gams::pose::ReferenceFrameVersion::load_tree	(	madara::knowledge::KnowledgeBase &	kb,
		ForwardIterator	begin,
		ForwardIterator	end,
		uint64_t	timestamp = `-1`,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`
	)

inlinestatic

Load ReferenceFrames, by ID, and their common ancestors.

Will interpolate frames to ensure the returned frames all have a common timestamp.

Template Parameters

a	ForwardIterator, of item type std::string

Parameters

begin	beginning iterator
end	ending iterator
timestamp	if -1, the latest possible tree will be returned. Otherwise, the specified timestamp will be returned.

Returns: a vector of ReferenceFrames, each corresponding to the input IDs, in the same order. If the timestamp specified cannot be satisfied, returns an empty vector.

Definition at line 807 of file ReferenceFrame.h.

template<typename Container >

static std::vector<ReferenceFrame> gams::pose::ReferenceFrameVersion::load_tree	(	madara::knowledge::KnowledgeBase &	kb,
		const Container &	ids,
		uint64_t	timestamp = `-1`,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`
	)

inlinestatic

Load ReferenceFrames, by ID, and their common ancestors.

Will interpolate frames to ensure the returned frames all have a common timestamp.

Template Parameters

a	Container, supporting cbegin() and cend(), of item type std::string

Parameters

ids	a Container of ids
timestamp	if -1, the latest possible tree will be returned. Otherwise, the specified timestamp will be returned.

Returns: a vector of ReferenceFrames, each corresponding to the input IDs, in the same order. If the timestamp specified cannot be satisfied, returns an empty vector.

Definition at line 854 of file ReferenceFrame.h.

ReferenceFrame gams::pose::ReferenceFrameVersion::move ( Position new_origin ) const

inline

Creates a new ReferenceFrame with modified origin.

Parameters

new_origin the new origin

Returns: the new ReferenceFrame with new origin

Definition at line 474 of file ReferenceFrame.h.

ReferenceFrame gams::pose::ReferenceFrameVersion::move	(	const Position &	new_origin,
		uint64_t	timestamp
	)		const

inline

Creates a new ReferenceFrame with modified origin and timestamp.

Parameters

new_origin	the new origin
timestamp	the new timestamp

Returns: the new ReferenceFrame with new origin and timestamp

Definition at line 507 of file ReferenceFrame.h.

Pose& gams::pose::ReferenceFrameVersion::mut_origin ( )

inline

Gets the origin of this Frame.

Returns: the Pose which is the origin within this frame's parent, or, a Pose within this own frame, with all zeros for coordinates, if this frame has no parent.

Definition at line 454 of file ReferenceFrame.h.

const char* gams::pose::ReferenceFrameVersion::name ( ) const

inline

Returns a human-readable name for the reference frame type.

Returns: the name reference frame type (e.g., GPS, Cartesian)

Definition at line 573 of file ReferenceFrame.h.

bool gams::pose::ReferenceFrameVersion::operator!= ( const ReferenceFrame & other ) const

Inequality operator.

Parameters

other the frame to compare to.

Returns: false if both frames are the same object (i.e., same address). Otherwise, frames are not considered equal (returns true).

bool gams::pose::ReferenceFrameVersion::operator!= ( const ReferenceFrameVersion & other ) const

Inequality operator.

Parameters

other the frame to compare to.

Returns: false if both frames are the same object (i.e., same address). Otherwise, frames are not considered equal (returns true).

bool gams::pose::ReferenceFrameVersion::operator== ( const ReferenceFrame & other ) const

Equality operator.

Parameters

other the frame to compare to.

Returns: true if both frames are the same object (i.e., same address). Otherwise, frames are not considered equal (returns false).

bool gams::pose::ReferenceFrameVersion::operator== ( const ReferenceFrameVersion & other ) const

Equality operator.

Parameters

other the frame to compare to.

Returns: true if both frames are the same object (i.e., same address). Otherwise, frames are not considered equal (returns false).

ReferenceFrame gams::pose::ReferenceFrameVersion::orient ( Orientation new_origin ) const

inline

Creates a new ReferenceFrame with modified origin.

Parameters

new_origin the new origin

Returns: the new ReferenceFrame with new origin

Definition at line 484 of file ReferenceFrame.h.

ReferenceFrame gams::pose::ReferenceFrameVersion::orient	(	const Orientation &	new_origin,
		uint64_t	timestamp
	)		const

inline

Creates a new ReferenceFrame with modified origin and timestamp.

Parameters

new_origin	the new origin
timestamp	the new timestamp

Returns: the new ReferenceFrame with new origin and timestamp

Definition at line 519 of file ReferenceFrame.h.

const Pose& gams::pose::ReferenceFrameVersion::origin ( ) const

inline

Gets the origin of this Frame.

Returns: the Pose which is the origin within this frame's parent, or, a Pose within this own frame, with all zeros for coordinates, if this frame has no parent.

Definition at line 443 of file ReferenceFrame.h.

ReferenceFrame gams::pose::ReferenceFrameVersion::origin_frame ( ) const

inline

Gets the parent frame (the one the origin is within).

Will be *this if no parent frame.

Definition at line 528 of file ReferenceFrame.h.

ReferenceFrame gams::pose::ReferenceFrameVersion::pose ( Pose new_origin ) const

inline

Creates a new ReferenceFrame with modified origin.

Parameters

new_origin the new origin

Returns: the new ReferenceFrame with new origin

Definition at line 464 of file ReferenceFrame.h.

ReferenceFrame gams::pose::ReferenceFrameVersion::pose	(	const Pose &	new_origin,
		uint64_t	timestamp
	)		const

inline

Creates a new ReferenceFrame with modified origin and timestamp.

Parameters

new_origin	the new origin
timestamp	the new timestamp

Returns: the new ReferenceFrame with new origin and timestamp

Definition at line 495 of file ReferenceFrame.h.

void gams::pose::ReferenceFrameVersion::save	(	madara::knowledge::KnowledgeBase &	kb,
		uint64_t	expiry,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`
	)		const

inline

Save this ReferenceFrame to the knowledge base, The saved frames will be marked with their timestamp for later retrieval.

If timestamp is -1, it will always be treated as the most recent frame.

Parameters

kb	the KnowledgeBase to store into
expiry	use this expiry time instead of the one set on this ID

Definition at line 657 of file ReferenceFrame.h.

void gams::pose::ReferenceFrameVersion::save	(	madara::knowledge::KnowledgeBase &	kb,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`
	)		const

inline

Save this ReferenceFrame to the knowledge base, The saved frames will be marked with their timestamp for later retrieval.

If timestamp is -1, it will always be treated as the most recent frame.

Parameters

kb	the KnowledgeBase to store into

Definition at line 672 of file ReferenceFrame.h.

void gams::pose::ReferenceFrameVersion::save_as	(	madara::knowledge::KnowledgeBase &	kb,
		std::string	key,
		uint64_t	expiry,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`
	)		const

Save this ReferenceFrame to the knowledge base, with a specific key value.

Parameters

kb	the KnowledgeBase to save to
key	a key prefix to save with
expiry	use this expiry time instead of the one set on this ID

void gams::pose::ReferenceFrameVersion::save_as	(	madara::knowledge::KnowledgeBase &	kb,
		std::string	key,
		const FrameEvalSettings &	settings = `FrameEvalSettings::DEFAULT`
	)		const

inline

Save this ReferenceFrame to the knowledge base, with a specific key value.

Parameters

kb	the KnowledgeBase to save to
key	a key prefix to save with

Definition at line 882 of file ReferenceFrame.h.

uint64_t gams::pose::ReferenceFrameVersion::timestamp ( ) const

inline

Get the timestamp assigned to this frame.

Definition at line 612 of file ReferenceFrame.h.

ReferenceFrame gams::pose::ReferenceFrameVersion::timestamp ( uint64_t timestamp ) const

inline

Clone the this frame, but with new timestamp.

Returns: the new frame object

Definition at line 621 of file ReferenceFrame.h.

const ReferenceFrameType* gams::pose::ReferenceFrameVersion::type ( ) const

inline

Retrieve the frame type object for this frame.

Mostly useful for comparing to the pose::Cartesian or pose::GPS instances to test what kind of frame this is.

Returns: a pointer to this frames ReferenceFrameType

Definition at line 434 of file ReferenceFrame.h.

Friends And Related Function Documentation

template<typename CoordType >

friend class Coordinate

friend

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 940 of file ReferenceFrame.h.

Member Data Documentation

std::shared_ptr<ReferenceFrameIdentity> gams::pose::ReferenceFrameVersion::ident_

mutableprivate

Definition at line 289 of file ReferenceFrame.h.

bool gams::pose::ReferenceFrameVersion::interpolated_ = false

mutableprivate

Definition at line 293 of file ReferenceFrame.h.

Pose gams::pose::ReferenceFrameVersion::origin_

private

Definition at line 292 of file ReferenceFrame.h.

uint64_t gams::pose::ReferenceFrameVersion::timestamp_ = -1

private

Definition at line 291 of file ReferenceFrame.h.

const ReferenceFrameType* gams::pose::ReferenceFrameVersion::type_

private

Definition at line 290 of file ReferenceFrame.h.

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

src/gams/pose/ReferenceFrame.h

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation