mrpt::math::TTwist2D Struct Reference

Detailed Description

2D twist: 2D velocity vector (vx,vy) + planar angular velocity (omega)

See also

mrpt::math::TTwist3D, mrpt::math::TPose2D

Definition at line 19 of file TTwist2D.h.

#include <mrpt/math/TTwist2D.h>

Inheritance diagram for mrpt::math::TTwist2D:

Public Types
enum	{ static_size = 3 }

Public Member Functions
constexpr	TTwist2D (double vx_, double vy_, double omega_)
	Constructor from components. More...
	TTwist2D ()=default
	Default fast constructor. More...
double &	operator[] (size_t i)
	Coordinate access using operator[]. More...
constexpr double	operator[] (size_t i) const
	Coordinate access using operator[]. More...
void	asVector (std::vector< double > &v) const
	Transformation into vector. More...
void	rotate (const double ang)
	Transform the (vx,vy) components for a counterclockwise rotation of ang radians. More...
bool	operator== (const TTwist2D &o) const
bool	operator!= (const TTwist2D &o) const
mrpt::math::TPose2D	operator* (const double dt) const
	Returns the pose increment of multiplying each twist component times "dt" seconds. More...
void	operator*= (const double k)
	Scale factor. More...
void	asString (std::string &s) const
	Returns a human-readable textual representation of the object (eg: "[vx vy omega]", omega in deg/s) More...
std::string	asString () const
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 TTwist2D	FromString (const std::string &s)

Public Attributes
double	vx {.0}
	Velocity components: X,Y (m/s) More...
double	vy {.0}
double	omega {.0}
	Angular velocity (rad/s) More...

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 21 of file TTwist2D.h.

Constructor & Destructor Documentation

TTwist2D() [1/2]

constexpr mrpt::math::TTwist2D::TTwist2D ( double  vx_, double  vy_, double  omega_  )

inline

Constructor from components.

Definition at line 31 of file TTwist2D.h.

TTwist2D() [2/2]

mrpt::math::TTwist2D::TTwist2D ( )

default

Default fast constructor.

Initializes to zeros

Member Function Documentation

asString() [1/2]

void TTwist2D::asString

(

std::string &

s

)

const

Returns a human-readable textual representation of the object (eg: "[vx vy omega]", omega in deg/s)

See also

fromString

Definition at line 23 of file Twist2D.cpp.

References mrpt::format(), omega, mrpt::RAD2DEG(), vx, and vy.

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asString() [2/2]

std::string mrpt::math::TTwist2D::asString ( ) const

inline

Definition at line 97 of file TTwist2D.h.

asVector()

void mrpt::math::TTwist2D::asVector ( std::vector< double > &  v ) const

inline

Transformation into vector.

Definition at line 68 of file TTwist2D.h.

References omega, vx, and vy.

cols()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TTwist2D >::cols ( ) const

inlineinherited

Definition at line 66 of file TPoseOrPoint.h.

fromString()

void TTwist2D::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 27 of file Twist2D.cpp.

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

Referenced by FromString().

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FromString()

static TTwist2D mrpt::math::TTwist2D::FromString ( const std::string &  s )

inlinestatic

Definition at line 111 of file TTwist2D.h.

References fromString().

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operator!=()

bool TTwist2D::operator!=

(

const TTwist2D &

o

)

const

Definition at line 51 of file Twist2D.cpp.

operator*()

mrpt::math::TPose2D TTwist2D::operator*

(

const double

dt

)

const

Returns the pose increment of multiplying each twist component times "dt" seconds.

Definition at line 52 of file Twist2D.cpp.

References omega, vx, and vy.

operator*=()

void mrpt::math::TTwist2D::operator*= ( const double  k )

inline

Scale factor.

Definition at line 85 of file TTwist2D.h.

References omega, vx, and vy.

operator==()

bool TTwist2D::operator==

(

const TTwist2D &

o

)

const

Definition at line 47 of file Twist2D.cpp.

References omega, vx, and vy.

operator[]() [1/2]

double& mrpt::math::TTwist2D::operator[] ( size_t  i )

inline

Coordinate access using operator[].

Order: vx,vy,vphi

Definition at line 38 of file TTwist2D.h.

References omega, vx, and vy.

operator[]() [2/2]

constexpr double mrpt::math::TTwist2D::operator[] ( size_t  i ) const

inline

Coordinate access using operator[].

Order: vx,vy,vphi

Definition at line 53 of file TTwist2D.h.

References omega, vx, and vy.

resize()

void mrpt::math::internal::ProvideStaticResize< TTwist2D >::resize ( std::size_t  n )

inlineinherited

throws if attempted to resize to incorrect length

Definition at line 70 of file TPoseOrPoint.h.

rotate()

void TTwist2D::rotate

(

const double

ang

)

Transform the (vx,vy) components for a counterclockwise rotation of ang radians.

Definition at line 40 of file Twist2D.cpp.

References vx, and vy.

Referenced by mrpt::poses::CRobot2DPoseEstimator::getCurrentEstimate(), mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTVelLocal(), mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricVelLocal(), mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

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rows()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TTwist2D >::rows ( ) const

inlineinherited

Definition at line 65 of file TPoseOrPoint.h.

size()

constexpr std::size_t mrpt::math::internal::ProvideStaticResize< TTwist2D >::size ( ) const

inlineinherited

Definition at line 67 of file TPoseOrPoint.h.

Member Data Documentation

omega

double mrpt::math::TTwist2D::omega {.0}

Angular velocity (rad/s)

Definition at line 28 of file TTwist2D.h.

Referenced by asString(), asVector(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), fromString(), mrpt::kinematics::CVehicleSimul_Holo::internal_simulControlStep(), mrpt::kinematics::CVehicleSimul_DiffDriven::internal_simulControlStep(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), operator*(), operator*=(), operator==(), operator[](), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(), TEST(), and mrpt::obs::CActionRobotMovement2D::velocityAng().

vx

double mrpt::math::TTwist2D::vx {.0}

Velocity components: X,Y (m/s)

Definition at line 26 of file TTwist2D.h.

Referenced by asString(), asVector(), mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), fromString(), mrpt::kinematics::CVehicleSimul_Holo::internal_simulControlStep(), mrpt::kinematics::CVehicleSimul_DiffDriven::internal_simulControlStep(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), operator*(), operator*=(), operator==(), operator[](), rotate(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(), TEST(), and mrpt::obs::CActionRobotMovement2D::velocityLin().

vy

double mrpt::math::TTwist2D::vy {.0}

Definition at line 26 of file TTwist2D.h.

Referenced by asString(), asVector(), mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), fromString(), mrpt::kinematics::CVehicleSimul_Holo::internal_simulControlStep(), mrpt::kinematics::CVehicleSimul_DiffDriven::internal_simulControlStep(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), operator*(), operator*=(), operator==(), operator[](), rotate(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(), and TEST().