Temporal Poses and Pose Chains

Static Poses and Pose Chains

Input and Output

  • asText, asEWKT: Return the Well-Known Text (WKT) or the Extended Well-Known Text (EWKT) representation

  • asBinary, asEWKB, asHexWKB, asHexEWKB: Return the Well-Known Binary (WKB), the Extended Well-Known Binary (EWKB), the Hexadecimal Well-Known Binary (HexWKB), or the Hexadecimal Extended Well-Known Binary (HexEWKB) representation

  • poseFromText, poseFromEWKT: Input from the Well-Known Text (WKT) or from the Extended Well-Known Text (EWKT) representation

  • poseFromBinary, poseFromEWKB, poseFromHexEWKB: Input from the Well-Known Binary (WKB), from the Extended Well-Known Binary (EWKB), or from the Hexadecimal Extended Well-Known Binary (HexEWKB) representation

Constructors

  • pose: Constructor for poses

Conversions

  • ::, stbox: Convert a pose and, optionally, a timestamp or a period, into a spatiotemporal box

  • ::: Convert a pose into geometry point

Accessors

  • point: Return the point, which for a pose chain is the point of its innermost frame

  • quaternion: Return the orientation quaternion of a pose

Transformations

  • round: Round the point and the orientation of the pose to the number of decimal places

Spatial Reference System

Distance Operations

Comparisons

Pose Chain Composition

  • posechain: Construct a pose chain from an array of poses ordered from the outermost frame inwards

  • posechain: Convert a pose into a pose chain of a single link

  • pose: Return the pose of a frame the chain defines, read in the outer frame of the chain

  • appendPose: Return a pose chain with a pose appended as its innermost link

  • numPoses: Return the number of links of a pose chain

  • startPose, endPose, poseN, poses: Return the links of a pose chain

  • numPoses: Return the number of links every value of a temporal pose chain holds

Temporal Poses and Pose Chains

Input and Output

Constructors

  • tpose: Constructor for temporal poses having a constant value

  • tposeSeq: Constructor for temporal poses of sequence subtype

  • tposeSeqSet, tposeSeqSetGaps: Constructor for temporal poses of sequence set subtype

  • tpose: Construct a 2D temporal pose from a temporal geometry point and a temporal float

Conversions

  • ::: Convert a temporal pose into a temporal geometry point

  • ::: Convert a geodetic temporal pose into a temporal geography point

Accessors

  • getValues: Return the values

  • points: Return the points

  • trajectory: Return the trajectory

  • valueAtTimestamp: Return the value at a timestamp

  • speed: Return the speed of a temporal pose as a temporal float, the magnitude of the position-component velocity (distance travelled per unit time)

  • angularSpeed: Return the angular speed of a temporal pose as a step-interpolated temporal float (radians per unit time)

  • getValue, getValues, timeSpan: Return the value of a temporal instant, the set of values, or the time span

Transformations

Modifications

Restrictions

Spatial Reference System

Bounding Box Operations

  • &&, <@, @>, ~=, -|-: Topological operators

  • ::: Position operators

  • expandSpace, stboxes: Return the spatiotemporal bounding box expanded in the spatial dimension, or the array of boxes covering the temporal pose chain

Distance Operations

  • |=|: Return the smallest distance ever

  • nearestApproachInstant: Return the instant of the first temporal pose at which the two arguments are at the nearest distance

  • shortestLine: Return the line connecting the nearest approach point

  • <->: Return the temporal distance

Spatiotemporal Relationships

Comparisons

  • ::: Traditional comparisons

  • ?=, %=, ?<>, %<>: Ever and always comparisons

  • ::: Temporal comparisons

  • eEq: Compare two temporal pose chains, or a temporal pose chain and a pose chain

Aggregations

Spatial Operations

  • centroid: Return the temporal geometry point given by the points of a temporal pose

  • convexHull: Return the convex hull of the points of a temporal pose

Simplification

OGC GeoPose v1.0 Support

JSON Input and Output

  • asGeoPose, poseFromGeoPose: Convert to or from the OGC GeoPose v1.0 JSON encoding (Basic-Quaternion, Basic-YPR or Advanced conformance class)

Quaternion Renormalization

  • poseNormalize: Return a pose whose orientation quaternion has been transformed to a unit norm

  • poseInverse: Return the inverse of a pose

Euler-Angle Accessors

  • yaw, pitch, roll: Return the yaw, pitch, or roll angle of a (temporal) pose, in radians, under the ZYX intrinsic Tait-Bryan convention required by the OGC GeoPose Basic-YPR conformance class

  • ypr: Return the orientation of a pose as a yaw / pitch / roll triple, in radians

  • yaw, pitch, roll: Lift the Euler angle accessors over a temporal pose, returning a temporal float in radians

Frame Metadata Registry

Body and World Rigid Transform

  • applyPose: Applies the rigid-body transform encoded by a pose (the OGC GeoPose body to world mapping) to a body-frame geometry, producing the corresponding world-frame geometry

Temporal JSON I/O

Composite Chain and Graph Documents