Class for storing and loading frames in a given KnowledgeBase, using given settings, with a set expiry. More...

#include <ReferenceFrame.h>

Public Member Functions
	FrameStore (madara::knowledge::KnowledgeBase kb, FrameEvalSettings settings, uint64_t expiry)
	Primary constructor for FrameStore. More...

	FrameStore (madara::knowledge::KnowledgeBase kb, FrameEvalSettings settings)
	Constructor for FrameStore Uses ReferenceFrame::default_expiry() for expiration. More...

	FrameStore (madara::knowledge::KnowledgeBase kb, uint64_t expiry)
	Constructor for FrameStore Uses default FrameEvalSettings. More...

	FrameStore (madara::knowledge::KnowledgeBase kb)
	Constructor for FrameStore Uses default FrameEvalSettings Uses ReferenceFrame::default_expiry() for expiration. More...

uint64_t	expiry () const
	Return the current expiry for all frames saved with this FrameStore See ReferenceFrame::expiry(uint64_t) for details of expiration. More...

const madara::knowledge::KnowledgeBase &	kb () const
	Return the KnowledgeBase to load/save with this FrameStore. More...

ReferenceFrame	load (const std::string &id, uint64_t timestamp=-1)
	Load a single ReferenceFrame, by ID. More...

template<typename InputIterator >
std::vector< ReferenceFrame >	load_tree (InputIterator begin, InputIterator end, uint64_t timestamp=-1) const
	Load ReferenceFrames, by ID, and their common ancestors. More...

template<typename Container >
std::vector< ReferenceFrame >	load_tree (const Container &ids, uint64_t timestamp=-1) const
	Load ReferenceFrames, by ID, and their common ancestors. More...

void	save (const ReferenceFrame &frame) const
	Save a ReferenceFrame to the knowledge base, The saved frames will be marked with their timestamp for later retrieval. More...

const FrameEvalSettings &	settings () const
	Return the current settings for frames saved/loaded with this FrameStore. More...

Private Attributes
uint64_t	expiry_

madara::knowledge::KnowledgeBase	kb_

FrameEvalSettings	settings_ = FrameEvalSettings::DEFAULT

Detailed Description

Class for storing and loading frames in a given KnowledgeBase, using given settings, with a set expiry.

This class itself is immutable, and thus trivially thread-safe.

Definition at line 952 of file ReferenceFrame.h.

Constructor & Destructor Documentation

gams::pose::FrameStore::FrameStore	(	madara::knowledge::KnowledgeBase	kb,
		FrameEvalSettings	settings,
		uint64_t	expiry
	)

inline

Primary constructor for FrameStore.

Parameters

kb	the KnowledgeBase to use
prefix	within the KnowledgeBase to use
expiry	expiration to use for all saves

Definition at line 972 of file ReferenceFrame.h.

gams::pose::FrameStore::FrameStore	(	madara::knowledge::KnowledgeBase	kb,
		FrameEvalSettings	settings
	)

inline

Constructor for FrameStore Uses ReferenceFrame::default_expiry() for expiration.

Parameters

kb	the KnowledgeBase to use
settings	to use

Definition at line 983 of file ReferenceFrame.h.

gams::pose::FrameStore::FrameStore	(	madara::knowledge::KnowledgeBase	kb,
		uint64_t	expiry
	)

inline

Constructor for FrameStore Uses default FrameEvalSettings.

Parameters

kb	the KnowledgeBase to use
expiry	expiration to use for all saves

Definition at line 994 of file ReferenceFrame.h.

gams::pose::FrameStore::FrameStore ( madara::knowledge::KnowledgeBase kb )

inline

Constructor for FrameStore Uses default FrameEvalSettings Uses ReferenceFrame::default_expiry() for expiration.

Parameters

kb	the KnowledgeBase to use

Definition at line 1005 of file ReferenceFrame.h.

Member Function Documentation

uint64_t gams::pose::FrameStore::expiry ( ) const

inline

Return the current expiry for all frames saved with this FrameStore See ReferenceFrame::expiry(uint64_t) for details of expiration.

Definition at line 1011 of file ReferenceFrame.h.

const madara::knowledge::KnowledgeBase& gams::pose::FrameStore::kb ( ) const

inline

Return the KnowledgeBase to load/save with this FrameStore.

Definition at line 1017 of file ReferenceFrame.h.

ReferenceFrame gams::pose::FrameStore::load	(	const std::string &	id,
		uint64_t	timestamp = `-1`
	)

inline

Load a single ReferenceFrame, by ID.

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 imported ReferenceFrame, or an invalid frame if none exists.

Definition at line 1042 of file ReferenceFrame.h.

template<typename InputIterator >

std::vector<ReferenceFrame> gams::pose::FrameStore::load_tree	(	InputIterator	begin,
		InputIterator	end,
		uint64_t	timestamp = `-1`
	)		const

inline

Load ReferenceFrames, by ID, and their common ancestors.

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

Template Parameters

an	InputIterator, 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 1063 of file ReferenceFrame.h.

template<typename Container >

std::vector<ReferenceFrame> gams::pose::FrameStore::load_tree	(	const Container &	ids,
		uint64_t	timestamp = `-1`
	)		const

inline

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 1087 of file ReferenceFrame.h.

void gams::pose::FrameStore::save ( const ReferenceFrame & frame ) const

inline

Save a 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

frame the ReferenceFrame to store

Definition at line 1027 of file ReferenceFrame.h.

const FrameEvalSettings& gams::pose::FrameStore::settings ( ) const

inline

Return the current settings for frames saved/loaded with this FrameStore.

Definition at line 1014 of file ReferenceFrame.h.

Member Data Documentation

uint64_t gams::pose::FrameStore::expiry_

private

Definition at line 962 of file ReferenceFrame.h.

madara::knowledge::KnowledgeBase gams::pose::FrameStore::kb_

mutableprivate

Definition at line 959 of file ReferenceFrame.h.

FrameEvalSettings gams::pose::FrameStore::settings_ = FrameEvalSettings::DEFAULT

private

Definition at line 961 of file ReferenceFrame.h.

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

src/gams/pose/ReferenceFrame.h

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation