Coordinate.h File Reference

#include "ReferenceFrame.h"
#include "gams/GamsExport.h"
#include <string>
#include <cfloat>
#include <utility>
#include "gams/CPP11_compat.h"
#include "madara/knowledge/containers/DoubleVector.h"
#include "madara/knowledge/containers/NativeDoubleVector.h"
#include "ReferenceFrameFwd.h"
#include "Coordinate.inl"
#include "Framed.h"
#include "Stamped.h"

Go to the source code of this file.

Classes
struct	gams::pose::units::absolute< T >
	Tag that coordinate is a fixed vector, not free. More...
struct	gams::pose::units::acceleration
class	gams::pose::Accleration
class	gams::pose::AcclerationVector
struct	gams::pose::units::angular_acceleration
struct	gams::pose::units::angular_velocity
class	gams::pose::AngularAccleration
class	gams::pose::AngularAcclerationVector
class	gams::pose::AngularVelocity
class	gams::pose::AngularVelocityVector
struct	gams::pose::units::base_of< T >
	Trait to strip absolute off a unit tag. More...
struct	gams::pose::units::base_of< absolute< T > >
struct	gams::pose::basic_positional_mixin< Derived >
	Internal use. More...
struct	gams::pose::basic_rotational_mixin< Derived >
	Internal use. More...
class	gams::pose::BasicVector< Derived, Units >
	For internal use. The underlying template for all coordinate types. More...
struct	gams::pose::common_rotational_mixin< Derived >
	Internal use. More...
struct	gams::pose::default_positional_unit_traits
	Internal use. More...
struct	gams::pose::default_rotational_unit_traits
	Internal use. More...
struct	gams::pose::default_unit_traits
	Internal use. More...
class	gams::pose::Displacement
class	gams::pose::DisplacementVector
struct	gams::pose::fixed_into_free< T >
	Helper struct for defining which fixed coordinate types map to which free vector coordinate types. More...
struct	gams::pose::fixed_into_free< Orientation >
struct	gams::pose::fixed_into_free< OrientationVector >
struct	gams::pose::fixed_into_free< Position >
struct	gams::pose::fixed_into_free< PositionVector >
struct	gams::pose::fixed_into_free< StampedOrientation >
struct	gams::pose::fixed_into_free< StampedPosition >
struct	gams::pose::units::length
struct	gams::pose::unit_traits< units::angular_acceleration >::mixin< Derived >
struct	gams::pose::unit_traits< units::angular_velocity >::mixin< Derived >
struct	gams::pose::unit_traits< units::plane_angle >::mixin< Derived >
struct	gams::pose::unit_traits< units::absolute< units::plane_angle > >::mixin< Derived >
struct	gams::pose::unit_traits< units::acceleration >::mixin< Derived >
struct	gams::pose::unit_traits< units::velocity >::mixin< Derived >
struct	gams::pose::unit_traits< units::length >::mixin< Derived >
struct	gams::pose::unit_traits< units::absolute< units::length > >::mixin< Derived >
class	gams::pose::Orientation
class	gams::pose::OrientationVector
struct	gams::pose::units::plane_angle
class	gams::pose::Position
class	gams::pose::PositionVector
class	gams::pose::Rotation
class	gams::pose::RotationVector
struct	gams::pose::units::same_base< L, R >
	Trait to compare types, ignoring absolute. More...
class	gams::pose::StampedAccleration
class	gams::pose::StampedAngularAccleration
class	gams::pose::StampedAngularVelocity
class	gams::pose::StampedDisplacement
class	gams::pose::StampedOrientation
class	gams::pose::StampedPosition
class	gams::pose::StampedRotation
class	gams::pose::StampedVelocity
class	gams::pose::default_rotational_unit_traits::storage_mixin
class	gams::pose::default_unit_traits::storage_mixin
struct	gams::pose::unit_traits< Units >
	Helper trait to customize BasicVector based on unit. More...
struct	gams::pose::unit_traits< units::absolute< units::length > >
struct	gams::pose::unit_traits< units::absolute< units::plane_angle > >
struct	gams::pose::unit_traits< units::acceleration >
struct	gams::pose::unit_traits< units::angular_acceleration >
struct	gams::pose::unit_traits< units::angular_velocity >
struct	gams::pose::unit_traits< units::length >
struct	gams::pose::unit_traits< units::plane_angle >
struct	gams::pose::unit_traits< units::velocity >
class	gams::pose::Velocity
struct	gams::pose::units::velocity
class	gams::pose::VelocityVector

Namespaces
	gams
	Contains all GAMS-related tools, classes and code.
	gams::pose
	Provides position and orientation primitives.
	gams::pose::units
	Type tags to indicate the dimension a coordinate lies within.

Macros
#define	GAMS_POSE_MAKE_BINARY_VEC_SCALAR_OP(op)
	Generates Eigen passthroughs for binary ops betwen vector and scalar. More...
#define	GAMS_POSE_MAKE_COMPOSITE_VEC_SCALAR_OP(op)
	Generates composite assignment operators for Coordinates, using Eigen. More...
#define	GAMS_POSE_MAKE_COMPOSITE_VECS_OP(op)
	Generates Eigen passthroughs on vectors. More...
#define	GAMS_POSE_MAKE_COORDINATE_COMPARE_OPS(op)
	Generates comparison operators for coordinate types. More...
#define	GAMS_POSE_MAKE_COORDINATE_TYPE(name, units)
	Creates the three variants for each coordinate type: {Coordinate}Vector: just the coordinate values alone {Coordinate}: values plus a bound frame Stamped{Coordinate}: values, frame, and timestamp. More...
#define	GAMS_POSE_MAKE_VEC_SCALAR_OPS(op)
#define	INVAL_COORD   DBL_MAX

Functions
template<typename LDerived , typename RDerived , typename Units >
bool	gams::pose::operator!= (const BasicVector< LDerived, Units > &lhs, const BasicVector< RDerived, Units > &rhs)
template<typename LDerived , typename RDerived , typename Units >
bool	gams::pose::operator!= (const Framed< BasicVector< LDerived, Units >> &lhs, const Framed< BasicVector< RDerived, Units >> &rhs)
template<typename LDerived , typename RDerived , typename Units >
bool	gams::pose::operator!= (const Stamped< Framed< BasicVector< LDerived, Units >>> &lhs, const Stamped< Framed< BasicVector< RDerived, Units >>> &rhs)
template<typename Derived , typename Units , typename Scalar >
auto	gams::pose::operator* (Scalar scalar, const BasicVector< Derived, Units > &vec) -> decltype(vec *scalar)
template<typename Derived , typename Units , typename Scalar >
auto	gams::pose::operator* (const BasicVector< Derived, Units > &vec, Scalar scalar) -> typename std::enable_if< std::is_arithmetic< Scalar >::value &&BasicVector< Derived, Units >::free(), typename BasicVector< Derived, Units >::derived_type >::type
template<typename Derived , typename Units , typename Scalar >
auto	gams::pose::operator*= (BasicVector< Derived, Units > &vec, Scalar scalar) -> typename std::enable_if< std::is_arithmetic< Scalar >::value &&BasicVector< Derived, Units >::free(), typename BasicVector< Derived, Units >::derived_type & >::type
template<typename LDerived , typename LUnits , typename RDerived , typename RUnits >
auto	gams::pose::operator+ (const BasicVector< LDerived, LUnits > &lhs, const BasicVector< RDerived, RUnits > &rhs) -> typename std::enable_if< RDerived::free(), LDerived >::type
	Pass through to Eigen operator- on vectors, if RHS is free. More...
template<typename LDerived , typename RDerived , typename Units >
auto	gams::pose::operator+= (BasicVector< LDerived, Units > &lhs, const Eigen::MatrixBase< RDerived > &rhs) -> typename std::enable_if< unit_traits< Units >::positional, LDerived & >::type
template<typename LDerived , typename RDerived , typename Units >
auto	gams::pose::operator+= (BasicVector< LDerived, Units > &lhs, const BasicVector< RDerived, Units > &rhs) -> typename std::enable_if< unit_traits< Units >::positional &&unit_traits< Units >::free, LDerived & >::type
template<typename LDerived , typename RDerived , typename Units >
auto	gams::pose::operator+= (BasicVector< LDerived, units::absolute< Units >> &lhs, const BasicVector< RDerived, Units > &rhs) -> typename std::enable_if< unit_traits< Units >::positional &&unit_traits< Units >::free, LDerived & >::type
template<typename LDerived , typename LUnits , typename RDerived , typename RUnits >
auto	gams::pose::operator- (const BasicVector< LDerived, LUnits > &lhs, const BasicVector< RDerived, RUnits > &rhs) -> typename std::enable_if< LDerived::free()&&RDerived::free(), LDerived >::type
	Pass through to Eigen operator- on vectors, for free types. More...
template<typename LDerived , typename RDerived , typename Units >
auto	gams::pose::operator-= (BasicVector< LDerived, Units > &lhs, const Eigen::MatrixBase< RDerived > &rhs) -> typename std::enable_if< unit_traits< Units >::positional, LDerived & >::type
template<typename LDerived , typename RDerived , typename Units >
auto	gams::pose::operator-= (BasicVector< LDerived, Units > &lhs, const BasicVector< RDerived, Units > &rhs) -> typename std::enable_if< unit_traits< Units >::positional &&unit_traits< Units >::free, LDerived & >::type
template<typename LDerived , typename RDerived , typename Units >
auto	gams::pose::operator-= (BasicVector< LDerived, units::absolute< Units >> &lhs, const BasicVector< RDerived, Units > &rhs) -> typename std::enable_if< unit_traits< Units >::positional &&unit_traits< Units >::free, LDerived & >::type
template<typename Derived , typename Units , typename Scalar >
auto	gams::pose::operator/ (const BasicVector< Derived, Units > &vec, Scalar scalar) -> typename std::enable_if< std::is_arithmetic< Scalar >::value &&BasicVector< Derived, Units >::free(), typename BasicVector< Derived, Units >::derived_type >::type
template<typename Derived , typename Units , typename Scalar >
auto	gams::pose::operator/ (Scalar scalar, const BasicVector< Derived, Units > &vec) -> decltype(vec/scalar)
template<typename Derived , typename Units , typename Scalar >
auto	gams::pose::operator/= (BasicVector< Derived, Units > &vec, Scalar scalar) -> typename std::enable_if< std::is_arithmetic< Scalar >::value &&BasicVector< Derived, Units >::free(), typename BasicVector< Derived, Units >::derived_type & >::type
template<typename LDerived , typename RDerived , typename Units >
bool	gams::pose::operator< (const BasicVector< LDerived, Units > &lhs, const BasicVector< RDerived, Units > &rhs)
template<typename LDerived , typename RDerived , typename Units >
bool	gams::pose::operator< (const Framed< BasicVector< LDerived, Units >> &lhs, const Framed< BasicVector< RDerived, Units >> &rhs)
template<typename LDerived , typename RDerived , typename Units >
bool	gams::pose::operator< (const Stamped< Framed< BasicVector< LDerived, Units >>> &lhs, const Stamped< Framed< BasicVector< RDerived, Units >>> &rhs)
std::ostream &	gams::pose::operator<< (std::ostream &o, const Eigen::Vector3d &v)
template<typename Derived , typename Units >
std::ostream &	gams::pose::operator<< (std::ostream &o, const BasicVector< Derived, Units > &v)
template<typename LDerived , typename RDerived , typename Units >
bool	gams::pose::operator<= (const Stamped< Framed< BasicVector< LDerived, Units >>> &lhs, const Stamped< Framed< BasicVector< RDerived, Units >>> &rhs)
template<typename LDerived , typename RDerived , typename Units >
bool	gams::pose::operator<= (const BasicVector< LDerived, Units > &lhs, const BasicVector< RDerived, Units > &rhs)
template<typename LDerived , typename RDerived , typename Units >
bool	gams::pose::operator<= (const Framed< BasicVector< LDerived, Units >> &lhs, const Framed< BasicVector< RDerived, Units >> &rhs)
template<typename LDerived , typename RDerived , typename Units >
bool	gams::pose::operator== (const Stamped< Framed< BasicVector< LDerived, Units >>> &lhs, const Stamped< Framed< BasicVector< RDerived, Units >>> &rhs)
template<typename LDerived , typename RDerived , typename Units >
bool	gams::pose::operator== (const Framed< BasicVector< LDerived, Units >> &lhs, const Framed< BasicVector< RDerived, Units >> &rhs)
template<typename LDerived , typename RDerived , typename Units >
bool	gams::pose::operator== (const BasicVector< LDerived, Units > &lhs, const BasicVector< RDerived, Units > &rhs)
template<typename LDerived , typename RDerived , typename Units >
bool	gams::pose::operator> (const Framed< BasicVector< LDerived, Units >> &lhs, const Framed< BasicVector< RDerived, Units >> &rhs)
template<typename LDerived , typename RDerived , typename Units >
bool	gams::pose::operator> (const Stamped< Framed< BasicVector< LDerived, Units >>> &lhs, const Stamped< Framed< BasicVector< RDerived, Units >>> &rhs)
template<typename LDerived , typename RDerived , typename Units >
bool	gams::pose::operator> (const BasicVector< LDerived, Units > &lhs, const BasicVector< RDerived, Units > &rhs)
template<typename LDerived , typename RDerived , typename Units >
bool	gams::pose::operator>= (const BasicVector< LDerived, Units > &lhs, const BasicVector< RDerived, Units > &rhs)
template<typename LDerived , typename RDerived , typename Units >
bool	gams::pose::operator>= (const Stamped< Framed< BasicVector< LDerived, Units >>> &lhs, const Stamped< Framed< BasicVector< RDerived, Units >>> &rhs)
template<typename LDerived , typename RDerived , typename Units >
bool	gams::pose::operator>= (const Framed< BasicVector< LDerived, Units >> &lhs, const Framed< BasicVector< RDerived, Units >> &rhs)
Eigen::Vector3d	gams::pose::quat_to_axis_angle (const Eigen::Quaterniond &quat)

Macro Definition Documentation

#define GAMS_POSE_MAKE_BINARY_VEC_SCALAR_OP

(

op

)

Value:

template<typename Derived, typename Units, typename Scalar> \
inline auto operator op(const BasicVector<Derived, Units> &vec, Scalar scalar) -> \
  typename std::enable_if<std::is_arithmetic<Scalar>::value && \
                          BasicVector<Derived, Units>::free(), \
                          typename BasicVector<Derived, Units>::derived_type>::type \
{ \
  typename BasicVector<Derived, Units>::derived_type ret = vec.self(); \
  ret op##= scalar; \
  return ret; \
} \
\
template<typename Derived, typename Units, typename Scalar> \
inline auto operator op(Scalar scalar, const BasicVector<Derived, Units> &vec) -> \
  decltype(vec op scalar) \
{ \
  return vec op scalar; \
}

Generates Eigen passthroughs for binary ops betwen vector and scalar.

Definition at line 798 of file Coordinate.h.

#define GAMS_POSE_MAKE_COMPOSITE_VEC_SCALAR_OP

(

op

)

Value:

template<typename Derived, typename Units, typename Scalar> \
inline auto operator op##=(BasicVector<Derived, Units> &vec, Scalar scalar) -> \
  typename std::enable_if<std::is_arithmetic<Scalar>::value && \
                          BasicVector<Derived, Units>::free(), \
                          typename BasicVector<Derived, Units>::derived_type&>::type \
{ \
  vec.vec() op##= scalar; \
  return vec.self(); \
}

Generates composite assignment operators for Coordinates, using Eigen.

Definition at line 786 of file Coordinate.h.

#define GAMS_POSE_MAKE_COMPOSITE_VECS_OP

(

op

)

Generates Eigen passthroughs on vectors.

Definition at line 825 of file Coordinate.h.

#define GAMS_POSE_MAKE_COORDINATE_COMPARE_OPS

(

op

)

Generates comparison operators for coordinate types.

Definition at line 921 of file Coordinate.h.

#define GAMS_POSE_MAKE_COORDINATE_TYPE	(		name,
			units
	)

Creates the three variants for each coordinate type: {Coordinate}Vector: just the coordinate values alone {Coordinate}: values plus a bound frame Stamped{Coordinate}: values, frame, and timestamp.

Definition at line 966 of file Coordinate.h.

#define GAMS_POSE_MAKE_VEC_SCALAR_OPS

(

op

)

Value:

GAMS_POSE_MAKE_COMPOSITE_VEC_SCALAR_OP(op) \
GAMS_POSE_MAKE_BINARY_VEC_SCALAR_OP(op)

Definition at line 817 of file Coordinate.h.

#define INVAL_COORD   DBL_MAX

Definition at line 76 of file Coordinate.h.