Detailed Description

Lightweight 2D pose.

Allows coordinate access using [] operator.

See also: mrpt::poses::CPose2D

Definition at line 22 of file TPose2D.h.

#include <mrpt/math/TPose2D.h>

Inheritance diagram for mrpt::math::TPose2D:

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...

constexpr	TPose2D (double xx, double yy, double Phi)
	Constructor from coordinates. More...

constexpr	TPose2D ()=default
	Default fast constructor. More...

double &	operator[] (size_t i)
	Coordinate access using operator[]. More...

constexpr const double &	operator[] (size_t i) const
	Coordinate access using operator[]. More...

void	asVector (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...

mrpt::math::TPoint2D	composePoint (const TPoint2D l) const

mrpt::math::TPoint2D	operator+ (const mrpt::math::TPoint2D &b) const

mrpt::math::TPoint2D	inverseComposePoint (const TPoint2D g) const

double	norm () const
	Returns the norm of the (x,y) vector (phi is not used) More...

void	normalizePhi ()
	Forces "phi" to be in the range [-pi,pi]. 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...

constexpr std::size_t	rows () const

constexpr std::size_t	cols () const

constexpr std::size_t	size () const

void	resize (std::size_t n)
	throws if attempted to resize to incorrect length More...

Static Public Member Functions
static constexpr TPose2D	Identity ()
	Returns the identity transformation. More...

Public Attributes
double	x {.0}
	X,Y coordinates. More...

double	y {.0}

double	phi {.0}
	Orientation (rads) More...

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 25 of file TPose2D.h.

Constructor & Destructor Documentation

◆ TPose2D() [1/5]

mrpt::math::TPose2D::TPose2D ( const TPoint2D & p )

Implicit constructor from TPoint2D.

Zeroes the phi coordinate.

See also: TPoint2D

Definition at line 95 of file TPoseOrPoint.cpp.

◆ TPose2D() [2/5]

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

explicit

Constructor from TPoint3D, losing information.

Zeroes the phi coordinate.

See also: TPoint3D

Definition at line 96 of file TPoseOrPoint.cpp.

◆ TPose2D() [3/5]

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 97 of file TPoseOrPoint.cpp.

◆ TPose2D() [4/5]

constexpr mrpt::math::TPose2D::TPose2D	(	double	xx,
		double	yy,
		double	Phi
	)

inline

Constructor from coordinates.

Definition at line 56 of file TPose2D.h.

◆ TPose2D() [5/5]

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

default

Default fast constructor.

Initializes to zeros.

Referenced by Identity().

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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 98 of file TPoseOrPoint.cpp.

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

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

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◆ asString() [2/2]

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

inline

Definition at line 108 of file TPose2D.h.

◆ asVector()

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

inline

Transformation into vector.

Definition at line 96 of file TPose2D.h.

References phi, x, and y.

◆ cols()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TPose2D >::cols ( ) const

inlineinherited

Definition at line 57 of file TPoseOrPoint.h.

◆ composePoint()

TPoint2D mrpt::math::TPose2D::composePoint ( const TPoint2D l ) const

Definition at line 138 of file TPoseOrPoint.cpp.

References phi, mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.

Referenced by mrpt::math::TPolygon2D::createRegularPolygon(), operator+(), and mrpt::math::project2D().

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◆ 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 102 of file TPoseOrPoint.cpp.

References ASSERTMSG_, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::DEG2RAD(), mrpt::math::MatrixVectorBase< Scalar, Derived >::fromMatlabStringFormat(), phi, mrpt::math::CMatrixDynamic< T >::rows(), and THROW_EXCEPTION.

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◆ Identity()

static constexpr TPose2D mrpt::math::TPose2D::Identity ( )

inlinestatic

Returns the identity transformation.

Definition at line 35 of file TPose2D.h.

References TPose2D().

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◆ inverseComposePoint()

mrpt::math::TPoint2D mrpt::math::TPose2D::inverseComposePoint ( const TPoint2D g ) const

Definition at line 148 of file TPoseOrPoint.cpp.

References phi, mrpt::math::TPoint2D_data::x, x, and y.

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

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◆ norm()

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

inline

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

Definition at line 127 of file TPose2D.h.

References mrpt::hypot_fast().

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◆ normalizePhi()

void mrpt::math::TPose2D::normalizePhi ( )

inline

Forces "phi" to be in the range [-pi,pi].

Definition at line 129 of file TPose2D.h.

References phi, and mrpt::math::wrapToPi().

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◆ operator+() [1/2]

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 113 of file TPoseOrPoint.cpp.

References mrpt::math::wrapToPi().

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◆ operator+() [2/2]

mrpt::math::TPoint2D mrpt::math::TPose2D::operator+ ( const mrpt::math::TPoint2D & b ) const

Definition at line 143 of file TPoseOrPoint.cpp.

References composePoint().

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◆ 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 125 of file TPoseOrPoint.cpp.

References mrpt::math::wrapToPi().

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◆ operator[]() [1/2]

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

inline

Coordinate access using operator[].

Order: x,y,phi

Definition at line 64 of file TPose2D.h.

References phi, x, and y.

◆ operator[]() [2/2]

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

inline

Coordinate access using operator[].

Order: x,y,phi

Definition at line 79 of file TPose2D.h.

References phi, x, and y.

◆ resize()

void mrpt::math::internal::ProvideStaticResize< TPose2D >::resize ( std::size_t n )

inlineinherited

throws if attempted to resize to incorrect length

Definition at line 61 of file TPoseOrPoint.h.

◆ rows()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TPose2D >::rows ( ) const

inlineinherited

Definition at line 56 of file TPoseOrPoint.h.

◆ size()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TPose2D >::size ( ) const

inlineinherited

Definition at line 58 of file TPoseOrPoint.h.

Member Data Documentation

◆ phi

double mrpt::math::TPose2D::phi {.0}

Orientation (rads)

Definition at line 32 of file TPose2D.h.

Referenced by asString(), asVector(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::obs::carmen_log_parse_line(), composePoint(), mrpt::maps::COccupancyGridMap2D::determineMatching2D(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), fromString(), mrpt::math::TLine2D::getAsPose2D(), mrpt::math::TLine2D::getAsPose2DForcingOrigin(), mrpt::poses::CRobot2DPoseEstimator::getCurrentEstimate(), mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTVelLocal(), mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricVelLocal(), 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(), inverseComposePoint(), mrpt::slam::KLF_loadBinFromParticle(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), normalizePhi(), mrpt::math::operator!=(), mrpt::math::operator==(), operator[](), mrpt::math::project2D(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), mrpt::tfest::se2_l2(), mrpt::kinematics::CVehicleSimul_Holo::sendVelCmd(), mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(), mrpt::nav::PlannerRRT_SE2_TPS::solve(), TEST(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ x

double mrpt::math::TPose2D::x {.0}

X,Y coordinates.

Definition at line 30 of file TPose2D.h.

Referenced by asVector(), 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::math::TLine2D::getAsPose2D(), mrpt::hwdrivers::CRovio::getPosition(), mrpt::hwdrivers::CRovio::getRovioState(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), inverseComposePoint(), mrpt::slam::KLF_loadBinFromParticle(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), mrpt::math::operator!=(), mrpt::math::operator==(), operator[](), mrpt::math::project2D(), 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 {.0}

Definition at line 30 of file TPose2D.h.

Referenced by asVector(), 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::math::TLine2D::getAsPose2D(), mrpt::hwdrivers::CRovio::getPosition(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), inverseComposePoint(), mrpt::slam::KLF_loadBinFromParticle(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), mrpt::math::operator!=(), mrpt::math::operator==(), operator[](), mrpt::math::project2D(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), mrpt::tfest::se2_l2(), TEST(), mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ TPose2D() [1/5]

◆ TPose2D() [2/5]

◆ TPose2D() [3/5]

◆ TPose2D() [4/5]

◆ TPose2D() [5/5]

Member Function Documentation

◆ asString() [1/2]

◆ asString() [2/2]

◆ asVector()

◆ cols()

◆ composePoint()

◆ fromString()

◆ Identity()

◆ inverseComposePoint()

◆ norm()

◆ normalizePhi()

◆ operator+() [1/2]

◆ operator+() [2/2]

◆ operator-()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ resize()

◆ rows()

◆ size()

Member Data Documentation

◆ phi

◆ x

◆ y