mrpt::math::TPose2D Struct Reference

Detailed Description

Lightweight 2D pose.

Allows coordinate access using [] operator.

See also

mrpt::poses::CPose2D

Definition at line 148 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Public Types
enum	{ static_size = 3 }

Public Member Functions
	TPose2D (const TPoint2D &p)
	Implicit constructor from TPoint2D. More...
	TPose2D (const TPoint3D &p)
	Constructor from TPoint3D, losing information. More...
	TPose2D (const TPose3D &p)
	Constructor from TPose3D, losing information. More...
	TPose2D (const mrpt::poses::CPose2D &p)
	Implicit constructor from heavyweight type. More...
	TPose2D (double xx, double yy, double pphi)
	Constructor from coordinates. More...
	TPose2D ()
	Default fast constructor. More...
double &	operator[] (size_t i)
	Coordinate access using operator[]. More...
const double &	operator[] (size_t i) const
	Coordinate access using operator[]. More...
void	getAsVector (std::vector< double > &v) const
	Transformation into vector. More...
void	asString (std::string &s) const
	Returns a human-readable textual representation of the object (eg: "[x y yaw]", yaw in degrees) More...
std::string	asString () const
mrpt::math::TPose2D	operator+ (const mrpt::math::TPose2D &b) const
	Operator "oplus" pose composition: "ret=this \oplus b". More...
mrpt::math::TPose2D	operator- (const mrpt::math::TPose2D &b) const
	Operator "ominus" pose composition: "ret=this \ominus b". More...
void	composePoint (const TPoint2D l, TPoint2D &g) const
void	inverseComposePoint (const TPoint2D g, TPoint2D &l) const
double	norm () const
	Returns the norm of the (x,y) vector (phi is not used) More...
void	fromString (const std::string &s)
	Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -45.0]" ) More...

Static Public Member Functions
static size_t	size ()

Public Attributes
double	x
double	y
	X,Y coordinates. More...
double	phi
	Orientation (rads) More...

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 149 of file lightweight_geom_data.h.

Constructor & Destructor Documentation

TPose2D() [1/6]

mrpt::math::TPose2D::TPose2D

(

const TPoint2D &

p

)

Implicit constructor from TPoint2D.

Zeroes the phi coordinate.

See also

TPoint2D

Definition at line 60 of file lightweight_geom_data.cpp.

TPose2D() [2/6]

mrpt::math::TPose2D::TPose2D ( const TPoint3D &  p )

explicit

Constructor from TPoint3D, losing information.

Zeroes the phi coordinate.

See also

TPoint3D

Definition at line 61 of file lightweight_geom_data.cpp.

TPose2D() [3/6]

mrpt::math::TPose2D::TPose2D ( const TPose3D &  p )

explicit

Constructor from TPose3D, losing information.

The phi corresponds to the original pose's yaw.

See also

TPose3D

Definition at line 62 of file lightweight_geom_data.cpp.

TPose2D() [4/6]

mrpt::math::TPose2D::TPose2D

(

const mrpt::poses::CPose2D &

p

)

Implicit constructor from heavyweight type.

See also

mrpt::poses::CPose2D

Definition at line 63 of file lightweight_geom_data.cpp.

TPose2D() [5/6]

mrpt::math::TPose2D::TPose2D ( double  xx, double  yy, double  pphi  )

inline

Constructor from coordinates.

Definition at line 174 of file lightweight_geom_data.h.

TPose2D() [6/6]

mrpt::math::TPose2D::TPose2D ( )

inline

Default fast constructor.

Initializes to garbage.

Definition at line 178 of file lightweight_geom_data.h.

Member Function Documentation

asString() [1/2]

void mrpt::math::TPose2D::asString

(

std::string &

s

)

const

Returns a human-readable textual representation of the object (eg: "[x y yaw]", yaw in degrees)

See also

fromString

Definition at line 64 of file lightweight_geom_data.cpp.

References mrpt::mrpt::format(), phi, and mrpt::mrpt::utils::RAD2DEG().

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

asString() [2/2]

std::string mrpt::math::TPose2D::asString ( ) const

inline

Definition at line 194 of file lightweight_geom_data.h.

References asString().

Referenced by asString().

composePoint()

void mrpt::math::TPose2D::composePoint ( const TPoint2D  l, TPoint2D &  g  ) const

inline

Definition at line 198 of file lightweight_geom_data.h.

References mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

fromString()

void mrpt::math::TPose2D::fromString

(

const std::string &

s

)

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -45.0]" )

See also

asString

Exceptions

std::exception

On invalid format

Definition at line 67 of file lightweight_geom_data.cpp.

References ASSERTMSG_, DEG2RAD, phi, mrpt::mrpt::math::size(), and THROW_EXCEPTION.

getAsVector()

void mrpt::math::TPose2D::getAsVector ( std::vector< double > &  v ) const

inline

Transformation into vector.

Definition at line 186 of file lightweight_geom_data.h.

inverseComposePoint()

void mrpt::math::TPose2D::inverseComposePoint ( const TPoint2D  g, TPoint2D &  l  ) const

inline

Definition at line 203 of file lightweight_geom_data.h.

References mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

Referenced by mrpt::nav::CReactiveNavigationSystem::checkCollisionWithLatestObstacles(), mrpt::nav::CReactiveNavigationSystem3D::checkCollisionWithLatestObstacles(), and mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle().

norm()

double mrpt::math::TPose2D::norm ( ) const

inline

Returns the norm of the (x,y) vector (phi is not used)

Definition at line 209 of file lightweight_geom_data.h.

References mrpt::mrpt::math::hypot_fast().

operator+()

mrpt::math::TPose2D mrpt::math::TPose2D::operator+

(

const mrpt::math::TPose2D &

b

)

const

Operator "oplus" pose composition: "ret=this \oplus b".

See also

CPose2D

Definition at line 76 of file lightweight_geom_data.cpp.

References mrpt::math::wrapToPi().

operator-()

mrpt::math::TPose2D mrpt::math::TPose2D::operator-

(

const mrpt::math::TPose2D &

b

)

const

Operator "ominus" pose composition: "ret=this \ominus b".

See also

CPose2D

Definition at line 87 of file lightweight_geom_data.cpp.

References mrpt::math::wrapToPi().

operator[]() [1/2]

double& mrpt::math::TPose2D::operator[] ( size_t  i )

inline

Coordinate access using operator[].

Order: x,y,phi

Definition at line 180 of file lightweight_geom_data.h.

operator[]() [2/2]

const double& mrpt::math::TPose2D::operator[] ( size_t  i ) const

inline

Coordinate access using operator[].

Order: x,y,phi

Definition at line 182 of file lightweight_geom_data.h.

size()

static size_t mrpt::math::TPose2D::size ( )

inlinestatic

Definition at line 218 of file lightweight_geom_data.h.

Referenced by mrpt::maps::CPointsMap::determineMatching2D().

Member Data Documentation

phi

double mrpt::math::TPose2D::phi

Orientation (rads)

Definition at line 151 of file lightweight_geom_data.h.

Referenced by asString(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::obs::carmen_log_parse_line(), mrpt::maps::COccupancyGridMap2D::determineMatching2D(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), fromString(), mrpt::poses::CRobot2DPoseEstimator::getCurrentEstimate(), mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTVelLocal(), mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricVelLocal(), mrpt::utils::CRobotSimulator::getPHI(), mrpt::hwdrivers::CRovio::getPosition(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), mrpt::kinematics::CVehicleSimul_Holo::internal_simulControlStep(), mrpt::kinematics::CVehicleSimul_DiffDriven::internal_simulControlStep(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), mrpt::math::operator!=(), mrpt::math::operator<<(), mrpt::math::operator==(), mrpt::math::operator>>(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), mrpt::tfest::se2_l2(), mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(), mrpt::nav::PlannerRRT_SE2_TPS::solve(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

x

double mrpt::math::TPose2D::x

Definition at line 150 of file lightweight_geom_data.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::obs::carmen_log_parse_line(), mrpt::poses::CPose2D::CPose2D(), mrpt::maps::COccupancyGridMap2D::determineMatching2D(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), mrpt::hwdrivers::CRovio::getPosition(), mrpt::hwdrivers::CRovio::getRovioState(), mrpt::utils::CRobotSimulator::getX(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), mrpt::math::operator!=(), mrpt::math::operator<<(), mrpt::math::operator==(), mrpt::math::operator>>(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), mrpt::tfest::se2_l2(), mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(), TEST(), mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

y

double mrpt::math::TPose2D::y

X,Y coordinates.

Definition at line 150 of file lightweight_geom_data.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::obs::carmen_log_parse_line(), mrpt::poses::CPose2D::CPose2D(), mrpt::maps::COccupancyGridMap2D::determineMatching2D(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), mrpt::hwdrivers::CRovio::getPosition(), mrpt::utils::CRobotSimulator::getY(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), mrpt::math::operator!=(), mrpt::math::operator<<(), mrpt::math::operator==(), mrpt::math::operator>>(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), mrpt::tfest::se2_l2(), TEST(), mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().