FramePose.h

#include <Eigen/Geometry>
 
#include <QExplicitlySharedDataPointer>
 
#include <kDBRobotics/Forward.h>
 
namespace kDBRobotics
{
  class FramePose
  {
  public:
    FramePose();
    FramePose(const kDB::Repository::Connection& _connection);
    FramePose(const FramePose& _rhs);
    FramePose& operator=(const FramePose& _rhs);
    ~FramePose();
    knowCore::ReturnValue<knowGIS::GeoPose> frameGeoPose(const QString& _frame_id, const knowCore::Timestamp& _timestamp);
    knowCore::ReturnValue<knowGIS::Pose> framePose(const QString& _frame_id, const knowCore::Timestamp& _timestamp, const Cartography::CoordinateSystem& _coordinateSystem);
    knowCore::ReturnValue<Cartography::CoordinateSystem> framePose(Eigen::Vector3d* _translation, Eigen::Quaterniond* _rotation, const QString& _frame_id, const knowCore::Timestamp& _timestamp, const Cartography::CoordinateSystem& _coordinateSystem);
  private:
    struct Private;
    QExplicitlySharedDataPointer<Private> d;
  };
}