A position in the global positioning system reference frame. More...

#include <GPSPosition.h>

Inheritance diagram for gams::utility::GPSPosition:

Public Member Functions
	GPSPosition (double init_lat=0.0, double init_lon=0.0, double init_alt=0.0)
	Constructor. More...

	GPSPosition (const GPSPosition &position)
	Constructor. More...

	GPSPosition (const Position &position)
	Constructor. More...

	GPSPosition (const pose::Position &pos)

virtual	~GPSPosition ()
	Destructor. More...

double	altitude () const
	Returns the altitude of the GPS coordinate. More...

void	altitude (double input)
	Sets the altitude to the input. More...

bool	approximately_equal (const GPSPosition &rhs, const double &epsilon) const
	Approximate equality. 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 GPSPosition &rhs, double &phi) const
	Get spherical direction to position. More...

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

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

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

virtual double	distance_to_2d (const Position &rhs) const

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

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...

double	latitude () const
	Returns the latitude of the GPS coordinate. More...

void	latitude (double input)
	Sets the latitude to the input. More...

double	longitude () const
	Returns the longitude of the GPS coordinate. More...

void	longitude (double input)
	Sets the longitude to the input. More...

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

bool	operator!= (const GPSPosition &rhs) const
	Inequality operator. 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 GPSPosition &rhs) const
	Ordering operator for sets. More...

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

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

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

bool	operator== (const GPSPosition &rhs) const
	Equality 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...

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_gps_pos () const

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

virtual Position	to_position (const GPSPosition &ref) const
	Convert to position using reference location. More...

std::string	to_string (const std::string &delimiter=",", const unsigned int precision=8) const
	Helper function for converting the position to a string. More...

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

static GPSPosition	to_gps_position (const Position &source, const GPSPosition &ref)
	Convert source to a GPSPosition. 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 the global positioning system reference frame.

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

Definition at line 77 of file GPSPosition.h.

Constructor & Destructor Documentation

gams::utility::GPSPosition::GPSPosition	(	double	init_lat = `0.0`,
		double	init_lon = `0.0`,
		double	init_alt = `0.0`
	)

Constructor.

Parameters

init_lat	the initial latitude
init_lon	the initial longitude
init_alt	the initial altitude

gams::utility::GPSPosition::GPSPosition ( const GPSPosition & position )

Constructor.

gams::utility::GPSPosition::GPSPosition ( const Position & position )

Constructor.

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

inline

Definition at line 99 of file GPSPosition.h.

virtual gams::utility::GPSPosition::~GPSPosition ( )

virtual

Destructor.

Member Function Documentation

double gams::utility::GPSPosition::altitude ( ) const

inline

Returns the altitude of the GPS coordinate.

Definition at line 264 of file GPSPosition.h.

void gams::utility::GPSPosition::altitude ( double input )

inline

Sets the altitude to the input.

Definition at line 279 of file GPSPosition.h.

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

Approximate equality.

Parameters

rhs	value to compare
epsilon	approximation value in meters

Returns: true if position is within distance epsilon of *this

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

inherited

Approximate equality.

Parameters

rhs	value to compare
epsilon	approximation value

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

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

inherited

Approximate equality.

Parameters

rhs	value to compare
epsilon	approximation value

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

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

Get spherical direction to position.

Parameters

rhs	other position
phi	direction to rhs

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

inherited

Get spherical direction to position.

Parameters

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

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

Get distance between two positions.

Parameters

rhs	second position

Returns: euclidean distance between the two points in meters

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

inherited

Get distance between two positions.

Parameters

rhs	second position

Returns: euclidean distance between the two points

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

virtualinherited

Parameters

rhs	second position

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

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

virtualinherited

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

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

virtualinherited

Dot product of two positions treated as vectors.

Parameters

p_2	other position

Returns: dot product of the two positions

virtual void gams::utility::GPSPosition::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 from gams::utility::Position.

virtual void gams::utility::GPSPosition::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 from gams::utility::Position.

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

staticinherited

Helper function for creating a Position from a KnowledgeRecord.

Parameters

record a record containing a double array

Returns: the Position equivalent of the record

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

static

Helper function for creating a GPSPosition from a string.

Parameters

delimiter characters to insert between position components

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

virtualinherited

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

double gams::utility::GPSPosition::latitude ( ) const

inline

Returns the latitude of the GPS coordinate.

Definition at line 254 of file GPSPosition.h.

void gams::utility::GPSPosition::latitude ( double input )

inline

Sets the latitude to the input.

Definition at line 269 of file GPSPosition.h.

double gams::utility::GPSPosition::longitude ( ) const

inline

Returns the longitude of the GPS coordinate.

Definition at line 259 of file GPSPosition.h.

void gams::utility::GPSPosition::longitude ( double input )

inline

Sets the longitude to the input.

Definition at line 274 of file GPSPosition.h.

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

inherited

Inequality operator.

Parameters

rhs	value to compare

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

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

Inequality operator.

Parameters

rhs	value to compare

Returns: true if any members are not equal in both objects, false otherwise

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

Inequality operator.

Parameters

rhs	value to compare

Returns: true if any members are not equal in both objects, false otherwise

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

Inequality operator.

Parameters

rhs	value to compare

Returns: true if any members are not equal in both objects, false otherwise

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

protectedinherited

Scale the position.

Parameters

scale factor to scale by

Returns: scaled version of *this

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

protectedinherited

Addition operator performs element-wise addition.

Parameters

rhs	value to add to *this

Returns: element-wise addition of *this and rhs

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

protectedinherited

Subtraction operator performs element-wise subtraction.

Parameters

rhs	value to subtract from *this

Returns: element-wise subtraction of rhs from *this

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

Ordering operator for sets.

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

inherited

Less than used for ordering in stl containers.

Parameters

rhs	comparing position

Returns: true if *this is less than rhs

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

Assignment operator.

Parameters

rhs	values to copy

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

inherited

Equality operator.

Parameters

rhs	value to compare

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

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

Equality operator.

Parameters

rhs	value to compare

Returns: true if all members are equal in both objects, false otherwise

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

Equality operator.

Parameters

rhs	value to compare

Returns: true if all members are equal in both objects, false otherwise

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

Equality operator.

Parameters

rhs	value to compare

Returns: true if all members are equal in both objects, false otherwise

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

virtualinherited

Get slope between two points.

Parameters

p	other point
slope	location to store slope between two points

Returns: true if slope exists

virtual void gams::utility::GPSPosition::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 from gams::utility::Position.

virtual void gams::utility::GPSPosition::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 from gams::utility::Position.

pose::Position gams::utility::GPSPosition::to_gps_pos ( ) const

inline

Definition at line 102 of file GPSPosition.h.

static GPSPosition gams::utility::GPSPosition::to_gps_position	(	const Position &	source,
		const GPSPosition &	ref
	)

static

Convert source to a GPSPosition.

Parameters

source	source position to convert
ref	origin GPSPosition

Returns: GPSPosition corresponding to source

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

inlineinherited

Definition at line 98 of file Position.h.

virtual Position gams::utility::GPSPosition::to_position ( const GPSPosition & ref ) const

virtual

Convert to position using reference location.

Parameters

ref	Reference location

Returns: Position object relative to ref

std::string gams::utility::GPSPosition::to_string	(	const std::string &	delimiter = `","`,
		const unsigned int	precision = `8`
	)		const

Helper function for converting the position to a string.

Parameters

delimiter	characters to insert between position components
precision	precision of doubles when printing coordinates

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

inherited

Helper function for converting the position to a string.

Parameters

delimiter characters to insert between position components

Member Data Documentation

double gams::utility::Position::x

inherited

the x coordinate (e.g. latitude)

Definition at line 288 of file Position.h.

double gams::utility::Position::y

inherited

the y coordinate (e.g. longitude)

Definition at line 291 of file Position.h.

double gams::utility::Position::z

inherited

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/GPSPosition.h

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation