MRPT  1.9.9
mrpt::poses::CPose2D Class Reference

Detailed Description

A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle.

Use this class instead of lightweight mrpt::math::TPose2D when pose/point composition is to be called multiple times with the same pose, since this class caches calls to expensive trigronometric functions.

For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer to this documentation page

Note
Read also: "A tutorial on SE(3) transformation parameterizations and on-manifold optimization", Jose-Luis Blanco. http://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf
See also
CPoseOrPoint,CPoint2D
Examples:
serialization_json_example/test.cpp.

Definition at line 39 of file CPose2D.h.

#include <mrpt/poses/CPose2D.h>

Inheritance diagram for mrpt::poses::CPose2D:

Public Types

enum  { is_3D_val = 0 }
 
enum  { rotation_dimensions = 2 }
 
enum  { is_PDF_val = 0 }
 
using type_value = CPose2D
 Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses. More...
 
using vector_t = mrpt::math::CVectorFixedDouble< DIM >
 Fixed-size vector of the correct size to hold all the coordinates of the point/pose. More...
 

Public Member Functions

 CPose2D ()
 Default constructor (all coordinates to 0) More...
 
 CPose2D (const double x, const double y, const double phi)
 Constructor from an initial value of the pose. More...
 
 CPose2D (const CPoint2D &)
 Constructor from a CPoint2D object. More...
 
 CPose2D (const CPose3D &)
 Aproximation!! Avoid its use, since information is lost. More...
 
 CPose2D (const mrpt::math::TPose2D &)
 Constructor from lightweight object. More...
 
mrpt::math::TPose2D asTPose () const
 
 CPose2D (const CPoint3D &)
 Constructor from CPoint3D with information loss. More...
 
 CPose2D (TConstructorFlags_Poses)
 Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument. More...
 
const double & phi () const
 Get the phi angle of the 2D pose (in radians) More...
 
double & phi ()
 
double phi_cos () const
 Get a (cached) value of cos(phi), recomputing it only once when phi changes. More...
 
double phi_sin () const
 Get a (cached) value of sin(phi), recomputing it only once when phi changes. More...
 
void phi (double angle)
 Set the phi angle of the 2D pose (in radians) More...
 
void phi_incr (const double Aphi)
 Increment the PHI angle (without checking the 2 PI range, call normalizePhi is needed) More...
 
void asVector (vector_t &v) const
 Returns a 1x3 vector with [x y phi]. More...
 
void getHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const
 Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...
 
void getRotationMatrix (mrpt::math::CMatrixDouble22 &R) const
 Returns the SE(2) 2x2 rotation matrix. More...
 
void getRotationMatrix (mrpt::math::CMatrixDouble33 &R) const
 Returns the equivalent SE(3) 3x3 rotation matrix, with (2,2)=1. More...
 
template<class MATRIX22 >
MATRIX22 getRotationMatrix () const
 
CPose2D operator+ (const CPose2D &D) const
 The operator $ a = this \oplus D $ is the pose compounding operator. More...
 
void composeFrom (const CPose2D &A, const CPose2D &B)
 Makes $ this = A \oplus B $. More...
 
CPose3D operator+ (const CPose3D &D) const
 The operator $ a = this \oplus D $ is the pose compounding operator. More...
 
CPoint2D operator+ (const CPoint2D &u) const
 The operator $ u' = this \oplus u $ is the pose/point compounding operator. More...
 
void composePoint (double lx, double ly, double &gx, double &gy) const
 An alternative, slightly more efficient way of doing $ G = P \oplus L $ with G and L being 2D points and P this 2D pose. More...
 
void composePoint (const mrpt::math::TPoint2D &l, mrpt::math::TPoint2D &g) const
 overload $ G = P \oplus L $ with G and L being 2D points and P this 2D pose More...
 
mrpt::math::TPoint3D composePoint (const mrpt::math::TPoint3D &l) const
 
void composePoint (const mrpt::math::TPoint3D &l, mrpt::math::TPoint3D &g) const
 overload $ G = P \oplus L $ with G and L being 3D points and P this 2D pose (the "z" coordinate remains unmodified) More...
 
void composePoint (double lx, double ly, double lz, double &gx, double &gy, double &gz) const
 overload (the "z" coordinate remains unmodified) More...
 
void inverseComposePoint (const double gx, const double gy, double &lx, double &ly) const
 Computes the 2D point L such as $ L = G \ominus this $. More...
 
void inverseComposePoint (const mrpt::math::TPoint2D &g, mrpt::math::TPoint2D &l) const
 
mrpt::math::TPoint2D inverseComposePoint (const mrpt::math::TPoint2D &g) const
 
CPoint3D operator+ (const CPoint3D &u) const
 The operator $ u' = this \oplus u $ is the pose/point compounding operator. More...
 
void inverseComposeFrom (const CPose2D &A, const CPose2D &B)
 Makes $ this = A \ominus B $ this method is slightly more efficient than "this= A - B;" since it avoids the temporary object. More...
 
void inverse ()
 Convert this pose into its inverse, saving the result in itself. More...
 
CPose2D operator- (const CPose2D &b) const
 Compute $ RET = this \ominus b $. More...
 
CPose3D operator- (const CPose3D &b) const
 The operator $ a \ominus b $ is the pose inverse compounding operator. More...
 
void AddComponents (const CPose2D &p)
 Scalar sum of components: This is diferent from poses composition, which is implemented as "+" operators in "CPose" derived classes. More...
 
void operator*= (const double s)
 Scalar multiplication. More...
 
CPose2Doperator+= (const CPose2D &b)
 Make $ this = this \oplus b $. More...
 
void normalizePhi ()
 Forces "phi" to be in the range [-pi,pi];. More...
 
CPose2D getOppositeScalar () const
 Return the opposite of the current pose instance by taking the negative of all its components individually. 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
 
void fromString (const std::string &s)
 Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" ) More...
 
void fromStringRaw (const std::string &s)
 Same as fromString, but without requiring the square brackets in the string. More...
 
const double & operator[] (unsigned int i) const
 
double & operator[] (unsigned int i)
 
void changeCoordinatesReference (const CPose2D &p)
 makes: this = p (+) this More...
 
double distance2DFrobeniusTo (const CPose2D &p) const
 Returns the 2D distance from this pose/point to a 2D pose using the Frobenius distance. More...
 
const type_valuegetPoseMean () const
 
type_valuegetPoseMean ()
 
void setToNaN () override
 Set all data fields to quiet NaN. More...
 
const CPose2Dderived () const
 
CPose2Dderived ()
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Static Public Member Functions

static CPose2D Identity ()
 Returns the identity transformation. More...
 
static constexpr bool is_3D ()
 
static constexpr bool is_PDF ()
 

Public Attributes

mrpt::math::CVectorFixedDouble< 2 > m_coords
 [x,y] More...
 

Protected Member Functions

void update_cached_cos_sin () const
 
CSerializable virtual methods
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
CSerializable virtual methods
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

Protected Attributes

double m_phi {0}
 The orientation of the pose, in radians. More...
 
double m_cosphi
 Precomputed cos() & sin() of phi. More...
 
double m_sinphi
 
bool m_cossin_uptodate {false}
 

RTTI stuff

using Ptr = std::shared_ptr< CPose2D >
 
using ConstPtr = std::shared_ptr< const CPose2D >
 
using UniquePtr = std::unique_ptr< CPose2D >
 
using ConstUniquePtr = std::unique_ptr< const CPose2D >
 
static mrpt::rtti::CLASSINIT _init_CPose2D
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CPose2D"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename Alloc , typename... Args>
static Ptr CreateAlloc (const Alloc &alloc, Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

STL-like methods and typedefs

 
enum  { static_size = 3 }
 
using value_type = double
 The type of the elements. More...
 
using reference = double &
 
using const_reference = const double &
 
using size_type = std::size_t
 
using difference_type = std::ptrdiff_t
 
static constexpr size_type size ()
 
static constexpr bool empty ()
 
static constexpr size_type max_size ()
 
static void resize (const size_t n)
 
static bool is3DPoseOrPoint ()
 Return true for poses or points with a Z component, false otherwise. More...
 
double x () const
 Common members of all points & poses classes. More...
 
double & x ()
 
void x (const double v)
 
double y () const
 
double & y ()
 
void y (const double v)
 
void x_incr (const double v)
 
void y_incr (const double v)
 
double sqrDistanceTo (const CPoseOrPoint< OTHERCLASS, DIM2 > &b) const
 Returns the squared euclidean distance to another pose/point: More...
 
double distanceTo (const CPoseOrPoint< OTHERCLASS, DIM2 > &b) const
 Returns the Euclidean distance to another pose/point: More...
 
double distanceTo (const mrpt::math::TPoint3D &b) const
 Returns the euclidean distance to a 3D point: More...
 
double distance2DToSquare (double ax, double ay) const
 Returns the squared 2D distance from this pose/point to a 2D point (ignores Z, if it exists). More...
 
double distance3DToSquare (double ax, double ay, double az) const
 Returns the squared 3D distance from this pose/point to a 3D point. More...
 
double distance2DTo (double ax, double ay) const
 Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists). More...
 
double distance3DTo (double ax, double ay, double az) const
 Returns the 3D distance from this pose/point to a 3D point. More...
 
double norm () const
 Returns the euclidean norm of vector: $ ||\mathbf{x}|| = \sqrt{x^2+y^2+z^2} $. More...
 
vector_t asVectorVal () const
 Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation) More...
 
MATRIX44 getHomogeneousMatrixVal () const
 Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...
 
void getInverseHomogeneousMatrix (MATRIX44 &out_HM) const
 Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. More...
 
MATRIX44 getInverseHomogeneousMatrixVal () const
 

Member Typedef Documentation

◆ const_reference

Definition at line 332 of file CPose2D.h.

◆ ConstPtr

Definition at line 43 of file CPose2D.h.

◆ ConstUniquePtr

using mrpt::poses::CPose2D::ConstUniquePtr = std::unique_ptr<const CPose2D >

Definition at line 43 of file CPose2D.h.

◆ difference_type

◆ Ptr

A type for the associated smart pointer

Definition at line 43 of file CPose2D.h.

◆ reference

Definition at line 331 of file CPose2D.h.

◆ size_type

using mrpt::poses::CPose2D::size_type = std::size_t

Definition at line 333 of file CPose2D.h.

◆ type_value

Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses.

Definition at line 308 of file CPose2D.h.

◆ UniquePtr

using mrpt::poses::CPose2D::UniquePtr = std::unique_ptr< CPose2D >

Definition at line 43 of file CPose2D.h.

◆ value_type

The type of the elements.

Definition at line 330 of file CPose2D.h.

◆ vector_t

Fixed-size vector of the correct size to hold all the coordinates of the point/pose.

Definition at line 137 of file CPoseOrPoint.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
Enumerator
is_3D_val 

Definition at line 309 of file CPose2D.h.

◆ anonymous enum

anonymous enum
Enumerator
rotation_dimensions 

Definition at line 314 of file CPose2D.h.

◆ anonymous enum

anonymous enum
Enumerator
is_PDF_val 

Definition at line 318 of file CPose2D.h.

◆ anonymous enum

anonymous enum
Enumerator
static_size 

Definition at line 337 of file CPose2D.h.

Constructor & Destructor Documentation

◆ CPose2D() [1/7]

CPose2D::CPose2D ( )

Default constructor (all coordinates to 0)

Definition at line 33 of file CPose2D.cpp.

Referenced by changeCoordinatesReference(), getOppositeScalar(), Identity(), and operator+().

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◆ CPose2D() [2/7]

CPose2D::CPose2D ( const double  x,
const double  y,
const double  phi 
)

Constructor from an initial value of the pose.

Definition at line 34 of file CPose2D.cpp.

References m_coords, normalizePhi(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::x(), and mrpt::poses::CPoseOrPoint< CPose2D, DIM >::y().

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◆ CPose2D() [3/7]

CPose2D::CPose2D ( const CPoint2D p)
explicit

Constructor from a CPoint2D object.

Definition at line 42 of file CPose2D.cpp.

References m_coords.

◆ CPose2D() [4/7]

CPose2D::CPose2D ( const CPose3D p)
explicit

Aproximation!! Avoid its use, since information is lost.

Definition at line 48 of file CPose2D.cpp.

References m_coords.

◆ CPose2D() [5/7]

CPose2D::CPose2D ( const mrpt::math::TPose2D o)
explicit

Constructor from lightweight object.

Definition at line 339 of file CPose2D.cpp.

References m_coords, mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

◆ CPose2D() [6/7]

CPose2D::CPose2D ( const CPoint3D o)
explicit

Constructor from CPoint3D with information loss.

Definition at line 346 of file CPose2D.cpp.

References m_coords, normalizePhi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ CPose2D() [7/7]

mrpt::poses::CPose2D::CPose2D ( TConstructorFlags_Poses  )
inline

Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument.

Definition at line 84 of file CPose2D.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose2D::_GetBaseClass ( )
staticprotected

◆ AddComponents()

void CPose2D::AddComponents ( const CPose2D p)

Scalar sum of components: This is diferent from poses composition, which is implemented as "+" operators in "CPose" derived classes.

Definition at line 293 of file CPose2D.cpp.

References m_coords, m_cossin_uptodate, and m_phi.

◆ asString() [1/2]

void CPose2D::asString ( std::string s) const

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

See also
fromString
Examples:
serialization_json_example/test.cpp.

Definition at line 445 of file CPose2D.cpp.

References mrpt::format(), m_phi, mrpt::RAD2DEG(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::x(), and mrpt::poses::CPoseOrPoint< CPose2D, DIM >::y().

Referenced by mrpt::slam::CMetricMapBuilderICP::processObservation().

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◆ asString() [2/2]

std::string mrpt::poses::CPose2D::asString ( ) const
inline

Definition at line 248 of file CPose2D.h.

◆ asTPose()

◆ asVector()

void CPose2D::asVector ( vector_t v) const

Returns a 1x3 vector with [x y phi].

Definition at line 377 of file CPose2D.cpp.

References m_coords, and m_phi.

◆ asVectorVal()

vector_t mrpt::poses::CPoseOrPoint< CPose2D , DIM >::asVectorVal ( ) const
inlineinherited

Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation)

Definition at line 266 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived().

◆ changeCoordinatesReference()

void mrpt::poses::CPose2D::changeCoordinatesReference ( const CPose2D p)
inline

makes: this = p (+) this

Definition at line 297 of file CPose2D.h.

References composeFrom(), and CPose2D().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPose2D::clone ( ) const
overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ composeFrom()

void CPose2D::composeFrom ( const CPose2D A,
const CPose2D B 
)

Makes $ this = A \oplus B $.

Note
A or B can be "this" without problems.

Definition at line 135 of file CPose2D.cpp.

References m_coords, m_cossin_uptodate, m_phi, and mrpt::math::wrapToPi().

Referenced by mrpt::poses::CPosePDFGaussian::changeCoordinatesReference(), mrpt::poses::CPosePDFGaussianInf::changeCoordinatesReference(), changeCoordinatesReference(), operator+=(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), and mrpt::slam::CMetricMapBuilderICP::processActionObservation().

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◆ composePoint() [1/5]

void CPose2D::composePoint ( double  lx,
double  ly,
double &  gx,
double &  gy 
) const

An alternative, slightly more efficient way of doing $ G = P \oplus L $ with G and L being 2D points and P this 2D pose.

An alternative, slightly more efficient way of doing $ G = P \oplus L $ with G and L being 2D points and P this 2D pose.

Definition at line 199 of file CPose2D.cpp.

References m_coords, m_cosphi, m_sinphi, and update_cached_cos_sin().

Referenced by mrpt::nav::CPTG_RobotShape_Polygonal::add_robotShape_to_setOfLines(), mrpt::nav::CPTG_RobotShape_Circular::add_robotShape_to_setOfLines(), composePoint(), mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_Consensus(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), ransac_data_assoc_run(), mrpt::tfest::se2_l2_robust(), mrpt::nav::CReactiveNavigationSystem::STEP3_WSpaceToTPSpace(), and mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping().

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◆ composePoint() [2/5]

void CPose2D::composePoint ( const mrpt::math::TPoint2D l,
mrpt::math::TPoint2D g 
) const

overload $ G = P \oplus L $ with G and L being 2D points and P this 2D pose

Definition at line 207 of file CPose2D.cpp.

References composePoint(), mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.

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◆ composePoint() [3/5]

mrpt::math::TPoint3D CPose2D::composePoint ( const mrpt::math::TPoint3D l) const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 220 of file CPose2D.cpp.

References composePoint().

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◆ composePoint() [4/5]

void CPose2D::composePoint ( const mrpt::math::TPoint3D l,
mrpt::math::TPoint3D g 
) const

overload $ G = P \oplus L $ with G and L being 3D points and P this 2D pose (the "z" coordinate remains unmodified)

Definition at line 215 of file CPose2D.cpp.

References composePoint(), mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.

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◆ composePoint() [5/5]

void CPose2D::composePoint ( double  lx,
double  ly,
double  lz,
double &  gx,
double &  gy,
double &  gz 
) const

overload (the "z" coordinate remains unmodified)

Definition at line 227 of file CPose2D.cpp.

References m_coords, m_cosphi, m_sinphi, and update_cached_cos_sin().

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◆ Create()

template<typename... Args>
static Ptr mrpt::poses::CPose2D::Create ( Args &&...  args)
inlinestatic

Definition at line 43 of file CPose2D.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::poses::CPose2D::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 43 of file CPose2D.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::poses::CPose2D::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::poses::CPose2D::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 43 of file CPose2D.h.

◆ derived() [1/2]

const CPose2D & mrpt::poses::CPoseOrPoint< CPose2D , DIM >::derived ( ) const
inlineinherited

Definition at line 129 of file CPoseOrPoint.h.

◆ derived() [2/2]

CPose2D & mrpt::poses::CPoseOrPoint< CPose2D , DIM >::derived ( )
inlineinherited

Definition at line 133 of file CPoseOrPoint.h.

◆ distance2DFrobeniusTo()

double CPose2D::distance2DFrobeniusTo ( const CPose2D p) const

Returns the 2D distance from this pose/point to a 2D pose using the Frobenius distance.

Definition at line 425 of file CPose2D.cpp.

References phi(), mrpt::square(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::x(), and mrpt::poses::CPoseOrPoint< CPose2D, DIM >::y().

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◆ distance2DTo()

double mrpt::poses::CPoseOrPoint< CPose2D , DIM >::distance2DTo ( double  ax,
double  ay 
) const
inlineinherited

Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists).

Definition at line 237 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::distance2DToSquare().

◆ distance2DToSquare()

double mrpt::poses::CPoseOrPoint< CPose2D , DIM >::distance2DToSquare ( double  ax,
double  ay 
) const
inlineinherited

Returns the squared 2D distance from this pose/point to a 2D point (ignores Z, if it exists).

Definition at line 221 of file CPoseOrPoint.h.

References mrpt::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

◆ distance3DTo()

double mrpt::poses::CPoseOrPoint< CPose2D , DIM >::distance3DTo ( double  ax,
double  ay,
double  az 
) const
inlineinherited

Returns the 3D distance from this pose/point to a 3D point.

Definition at line 243 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::distance3DToSquare().

◆ distance3DToSquare()

double mrpt::poses::CPoseOrPoint< CPose2D , DIM >::distance3DToSquare ( double  ax,
double  ay,
double  az 
) const
inlineinherited

◆ distanceTo() [1/2]

double mrpt::poses::CPoseOrPoint< CPose2D , DIM >::distanceTo ( const CPoseOrPoint< OTHERCLASS, DIM2 > &  b) const
inlineinherited

Returns the Euclidean distance to another pose/point:

Definition at line 214 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::sqrDistanceTo().

◆ distanceTo() [2/2]

double mrpt::poses::CPoseOrPoint< CPose2D , DIM >::distanceTo ( const mrpt::math::TPoint3D b) const
inlineinherited

Returns the euclidean distance to a 3D point:

Definition at line 249 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::distance3DTo().

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 200 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ empty()

static constexpr bool mrpt::poses::CPose2D::empty ( )
inlinestatic

Definition at line 342 of file CPose2D.h.

◆ fromString()

void CPose2D::fromString ( const std::string s)

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" )

See also
asString
Exceptions
std::exceptionOn invalid format

Definition at line 409 of file CPose2D.cpp.

References ASSERTMSG_, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::DEG2RAD(), mrpt::math::MatrixVectorBase< Scalar, Derived >::fromMatlabStringFormat(), phi(), mrpt::math::CMatrixDynamic< T >::rows(), THROW_EXCEPTION, mrpt::poses::CPoseOrPoint< CPose2D, DIM >::x(), and mrpt::poses::CPoseOrPoint< CPose2D, DIM >::y().

Referenced by fromStringRaw().

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◆ fromStringRaw()

void CPose2D::fromStringRaw ( const std::string s)

Same as fromString, but without requiring the square brackets in the string.

Definition at line 420 of file CPose2D.cpp.

References fromString().

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◆ getClassName()

static constexpr auto mrpt::poses::CPose2D::getClassName ( )
inlinestatic

Definition at line 43 of file CPose2D.h.

◆ getHomogeneousMatrix()

void CPose2D::getHomogeneousMatrix ( mrpt::math::CMatrixDouble44 out_HM) const

Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).

See also
getInverseHomogeneousMatrix

Definition at line 317 of file CPose2D.cpp.

References m_coords, m_cosphi, m_sinphi, mrpt::math::MatrixBase< Scalar, Derived >::setIdentity(), and update_cached_cos_sin().

Referenced by mrpt::poses::CPosePDFSOG::changeCoordinatesReference().

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◆ getHomogeneousMatrixVal()

MATRIX44 mrpt::poses::CPoseOrPoint< CPose2D , DIM >::getHomogeneousMatrixVal ( ) const
inlineinherited

Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).

See also
getInverseHomogeneousMatrix

Definition at line 278 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived().

◆ getInverseHomogeneousMatrix()

void mrpt::poses::CPoseOrPoint< CPose2D , DIM >::getInverseHomogeneousMatrix ( MATRIX44 &  out_HM) const
inlineinherited

Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose.

See also
getHomogeneousMatrix

Definition at line 290 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived(), and mrpt::math::homogeneousMatrixInverse().

◆ getInverseHomogeneousMatrixVal()

MATRIX44 mrpt::poses::CPoseOrPoint< CPose2D , DIM >::getInverseHomogeneousMatrixVal ( ) const
inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 298 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getInverseHomogeneousMatrix().

◆ getOppositeScalar()

CPose2D CPose2D::getOppositeScalar ( ) const

Return the opposite of the current pose instance by taking the negative of all its components individually.

Definition at line 440 of file CPose2D.cpp.

References CPose2D(), m_coords, and m_phi.

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◆ getPoseMean() [1/2]

const type_value& mrpt::poses::CPose2D::getPoseMean ( ) const
inline

Definition at line 323 of file CPose2D.h.

◆ getPoseMean() [2/2]

type_value& mrpt::poses::CPose2D::getPoseMean ( )
inline

Definition at line 324 of file CPose2D.h.

◆ getRotationMatrix() [1/3]

void CPose2D::getRotationMatrix ( mrpt::math::CMatrixDouble22 R) const

Returns the SE(2) 2x2 rotation matrix.

Definition at line 154 of file CPose2D.cpp.

References m_cosphi, m_sinphi, R, and update_cached_cos_sin().

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◆ getRotationMatrix() [2/3]

void CPose2D::getRotationMatrix ( mrpt::math::CMatrixDouble33 R) const

Returns the equivalent SE(3) 3x3 rotation matrix, with (2,2)=1.

Definition at line 163 of file CPose2D.cpp.

References m_cosphi, m_sinphi, R, and update_cached_cos_sin().

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◆ getRotationMatrix() [3/3]

template<class MATRIX22 >
MATRIX22 mrpt::poses::CPose2D::getRotationMatrix ( ) const
inline

Definition at line 139 of file CPose2D.h.

References R.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose2D::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPose2D::GetRuntimeClassIdStatic ( )
static

◆ Identity()

static CPose2D mrpt::poses::CPose2D::Identity ( )
inlinestatic

Returns the identity transformation.

Definition at line 66 of file CPose2D.h.

References CPose2D().

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◆ inverse()

void CPose2D::inverse ( )

Convert this pose into its inverse, saving the result in itself.

See also
operator-

Definition at line 365 of file CPose2D.cpp.

References m_coords, m_cosphi, m_cossin_uptodate, m_phi, m_sinphi, and update_cached_cos_sin().

Referenced by mrpt::poses::operator-().

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◆ inverseComposeFrom()

void CPose2D::inverseComposeFrom ( const CPose2D A,
const CPose2D B 
)

Makes $ this = A \ominus B $ this method is slightly more efficient than "this= A - B;" since it avoids the temporary object.

Note
A or B can be "this" without problems.
See also
composeFrom, composePoint

Definition at line 276 of file CPose2D.cpp.

References m_coords, m_cosphi, m_cossin_uptodate, m_phi, m_sinphi, update_cached_cos_sin(), and mrpt::math::wrapToPi().

Referenced by mrpt::nav::PoseDistanceMetric< TNodeSE2_TP >::distance(), and operator-().

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◆ inverseComposePoint() [1/3]

void CPose2D::inverseComposePoint ( const double  gx,
const double  gy,
double &  lx,
double &  ly 
) const

Computes the 2D point L such as $ L = G \ominus this $.

See also
composePoint, composeFrom

Definition at line 236 of file CPose2D.cpp.

References m_coords, m_cosphi, m_sinphi, and update_cached_cos_sin().

Referenced by inverseComposePoint(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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◆ inverseComposePoint() [2/3]

void CPose2D::inverseComposePoint ( const mrpt::math::TPoint2D g,
mrpt::math::TPoint2D l 
) const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 247 of file CPose2D.cpp.

References inverseComposePoint(), mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.

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◆ inverseComposePoint() [3/3]

mrpt::math::TPoint2D CPose2D::inverseComposePoint ( const mrpt::math::TPoint2D g) const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 252 of file CPose2D.cpp.

References inverseComposePoint().

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◆ is3DPoseOrPoint()

static bool mrpt::poses::CPoseOrPoint< CPose2D , DIM >::is3DPoseOrPoint ( )
inlinestaticinherited

Return true for poses or points with a Z component, false otherwise.

Definition at line 180 of file CPoseOrPoint.h.

◆ is_3D()

static constexpr bool mrpt::poses::CPose2D::is_3D ( )
inlinestatic

Definition at line 313 of file CPose2D.h.

References is_3D_val.

◆ is_PDF()

static constexpr bool mrpt::poses::CPose2D::is_PDF ( )
inlinestatic

Definition at line 322 of file CPose2D.h.

References is_PDF_val.

◆ max_size()

static constexpr size_type mrpt::poses::CPose2D::max_size ( )
inlinestatic

Definition at line 343 of file CPose2D.h.

References static_size.

◆ norm()

◆ normalizePhi()

void CPose2D::normalizePhi ( )

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

Definition at line 333 of file CPose2D.cpp.

References m_cossin_uptodate, m_phi, and mrpt::math::wrapToPi().

Referenced by mrpt::poses::CPosePDFGaussian::bayesianFusion(), mrpt::poses::CPosePDFGaussianInf::bayesianFusion(), CPose2D(), mrpt::poses::CPosePDFGaussian::drawSingleSample(), mrpt::poses::CPosePDFGaussianInf::drawSingleSample(), and mrpt::obs::CActionRobotMovement2D::drawSingleSample_modelThrun().

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◆ operator*=()

void CPose2D::operator*= ( const double  s)

Scalar multiplication.

Definition at line 304 of file CPose2D.cpp.

References m_coords, m_cossin_uptodate, and m_phi.

◆ operator+() [1/4]

CPose2D CPose2D::operator+ ( const CPose2D D) const

The operator $ a = this \oplus D $ is the pose compounding operator.

Definition at line 122 of file CPose2D.cpp.

References CPose2D(), m_coords, m_cosphi, m_phi, m_sinphi, and update_cached_cos_sin().

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◆ operator+() [2/4]

CPose3D CPose2D::operator+ ( const CPose3D D) const

The operator $ a = this \oplus D $ is the pose compounding operator.

Definition at line 180 of file CPose2D.cpp.

◆ operator+() [3/4]

CPoint2D CPose2D::operator+ ( const CPoint2D u) const

The operator $ u' = this \oplus u $ is the pose/point compounding operator.

Definition at line 188 of file CPose2D.cpp.

References m_coords, m_cosphi, m_sinphi, update_cached_cos_sin(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ operator+() [4/4]

CPoint3D CPose2D::operator+ ( const CPoint3D u) const

The operator $ u' = this \oplus u $ is the pose/point compounding operator.

Definition at line 263 of file CPose2D.cpp.

References m_coords, m_cosphi, m_sinphi, update_cached_cos_sin(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ operator+=()

CPose2D & CPose2D::operator+= ( const CPose2D b)

Make $ this = this \oplus b $.

Definition at line 403 of file CPose2D.cpp.

References composeFrom().

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◆ operator-() [1/2]

CPose2D mrpt::poses::CPose2D::operator- ( const CPose2D b) const
inline

Compute $ RET = this \ominus b $.

Definition at line 210 of file CPose2D.h.

References inverseComposeFrom(), and mrpt::poses::UNINITIALIZED_POSE.

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◆ operator-() [2/2]

CPose3D CPose2D::operator- ( const CPose3D b) const

The operator $ a \ominus b $ is the pose inverse compounding operator.

Definition at line 432 of file CPose2D.cpp.

◆ operator[]() [1/2]

const double& mrpt::poses::CPose2D::operator[] ( unsigned int  i) const
inline

Definition at line 265 of file CPose2D.h.

References m_coords, and m_phi.

◆ operator[]() [2/2]

double& mrpt::poses::CPose2D::operator[] ( unsigned int  i)
inline

Definition at line 280 of file CPose2D.h.

References m_coords, and m_phi.

◆ phi() [1/3]

const double& mrpt::poses::CPose2D::phi ( ) const
inline

Get the phi angle of the 2D pose (in radians)

Definition at line 86 of file CPose2D.h.

References m_phi.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::accumulateAngleDiffs(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), asTPose(), mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::poses::CPosePDFGaussian::bayesianFusion(), mrpt::poses::CPosePDFGaussianInf::bayesianFusion(), mrpt::poses::CPosePDFGaussian::changeCoordinatesReference(), mrpt::poses::CPosePDFGaussianInf::changeCoordinatesReference(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::checkRegistrationCondition(), mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::checkRegistrationConditionPose(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelGaussian(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_Thrun(), mrpt::maps::CPointsMap::determineMatching2D(), distance2DFrobeniusTo(), mrpt::poses::CPoseRandomSampler::do_sample_2D(), mrpt::poses::CPosePDFGaussian::drawManySamples(), mrpt::poses::CPosePDFGaussianInf::drawManySamples(), mrpt::poses::CPosePDFGaussian::drawSingleSample(), mrpt::poses::CPosePDFGaussianInf::drawSingleSample(), mrpt::obs::CActionRobotMovement2D::drawSingleSample_modelThrun(), fromString(), func_laserSimul_callback(), mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), mrpt::maps::COccupancyGridMap2D::internal_insertObservation(), mrpt::poses::CPosePDFGaussian::inverse(), mrpt::poses::CPosePDFGaussianInf::inverse(), mrpt::poses::CPosePDFGaussian::inverseComposition(), mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::loadTPathBinFromPath(), mrpt::poses::CPosePDFSOG::mergeModes(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetAction(), mrpt::slam::CRangeBearingKFSLAM2D::OnInverseObservationModel(), mrpt::slam::CRangeBearingKFSLAM2D::OnObservationJacobians(), mrpt::slam::CRangeBearingKFSLAM2D::OnObservationModel(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionModel(), mrpt::poses::operator!=(), mrpt::poses::CPosePDFSOG::operator+=(), mrpt::poses::operator==(), mrpt::detectors::CDetectorDoorCrossing::process(), ransac_data_assoc_run(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::RS_drawFromProposal(), mrpt::poses::CPosePDFGaussian::saveToTextFile(), mrpt::poses::CPosePDFGaussianInf::saveToTextFile(), mrpt::tfest::se2_l2_robust(), serializeFrom(), mrpt::poses::CPosePDFGaussianInf::serializeTo(), mrpt::nav::PlannerRRT_SE2_TPS::solve(), mrpt::maps::COccupancyGridMap2D::sonarSimulator(), Pose3DTests::test_to_from_2d(), and mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line().

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◆ phi() [2/3]

double& mrpt::poses::CPose2D::phi ( )
inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 88 of file CPose2D.h.

References m_cossin_uptodate, and m_phi.

◆ phi() [3/3]

void mrpt::poses::CPose2D::phi ( double  angle)
inline

Set the phi angle of the 2D pose (in radians)

Definition at line 110 of file CPose2D.h.

References m_cossin_uptodate, and m_phi.

◆ phi_cos()

double mrpt::poses::CPose2D::phi_cos ( ) const
inline

Get a (cached) value of cos(phi), recomputing it only once when phi changes.

Definition at line 96 of file CPose2D.h.

References m_cosphi, and update_cached_cos_sin().

Referenced by mrpt::poses::operator+().

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◆ phi_incr()

void mrpt::poses::CPose2D::phi_incr ( const double  Aphi)
inline

Increment the PHI angle (without checking the 2 PI range, call normalizePhi is needed)

Definition at line 118 of file CPose2D.h.

References m_cossin_uptodate, and m_phi.

◆ phi_sin()

double mrpt::poses::CPose2D::phi_sin ( ) const
inline

Get a (cached) value of sin(phi), recomputing it only once when phi changes.

Definition at line 103 of file CPose2D.h.

References m_sinphi, and update_cached_cos_sin().

Referenced by mrpt::poses::operator+().

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◆ resize()

static void mrpt::poses::CPose2D::resize ( const size_t  n)
inlinestatic

Definition at line 344 of file CPose2D.h.

References mrpt::format(), and static_size.

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◆ serializeFrom() [1/2]

void CPose2D::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 60 of file CPose2D.cpp.

References m_coords, m_cossin_uptodate, m_phi, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and phi().

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase in)
inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CPose2D::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 54 of file CPose2D.cpp.

◆ serializeTo() [1/2]

void CPose2D::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 55 of file CPose2D.cpp.

References m_coords, and m_phi.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase out) const
inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setToNaN()

void CPose2D::setToNaN ( )
overridevirtual

Set all data fields to quiet NaN.

Implements mrpt::poses::CPoseOrPoint< CPose2D, DIM >.

Definition at line 450 of file CPose2D.cpp.

◆ size()

static constexpr size_type mrpt::poses::CPose2D::size ( )
inlinestatic

Definition at line 341 of file CPose2D.h.

References static_size.

◆ sqrDistanceTo()

double mrpt::poses::CPoseOrPoint< CPose2D , DIM >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS, DIM2 > &  b) const
inlineinherited

◆ update_cached_cos_sin()

void CPose2D::update_cached_cos_sin ( ) const
protected

Definition at line 456 of file CPose2D.cpp.

References m_cosphi, m_cossin_uptodate, m_phi, and m_sinphi.

Referenced by composePoint(), getHomogeneousMatrix(), getRotationMatrix(), inverse(), inverseComposeFrom(), inverseComposePoint(), operator+(), phi_cos(), and phi_sin().

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

◆ x() [1/3]

double mrpt::poses::CPoseOrPoint< CPose2D , DIM >::x ( ) const
inlineinherited

Common members of all points & poses classes.

< Get X coord.

Definition at line 143 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived().

Referenced by asString(), asTPose(), CPose2D(), distance2DFrobeniusTo(), and fromString().

◆ x() [2/3]

double& mrpt::poses::CPoseOrPoint< CPose2D , DIM >::x ( )
inlineinherited

◆ x() [3/3]

void mrpt::poses::CPoseOrPoint< CPose2D , DIM >::x ( const double  v)
inlineinherited
Parameters
vSet X coord.

Definition at line 161 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived().

◆ x_incr()

void mrpt::poses::CPoseOrPoint< CPose2D , DIM >::x_incr ( const double  v)
inlineinherited
Parameters
vX+=v

Definition at line 170 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived().

◆ y() [1/3]

double mrpt::poses::CPoseOrPoint< CPose2D , DIM >::y ( ) const
inlineinherited

◆ y() [2/3]

double& mrpt::poses::CPoseOrPoint< CPose2D , DIM >::y ( )
inlineinherited

◆ y() [3/3]

void mrpt::poses::CPoseOrPoint< CPose2D , DIM >::y ( const double  v)
inlineinherited
Parameters
vSet Y coord.

Definition at line 165 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived().

◆ y_incr()

void mrpt::poses::CPoseOrPoint< CPose2D , DIM >::y_incr ( const double  v)
inlineinherited
Parameters
vY+=v

Definition at line 174 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived().

Member Data Documentation

◆ _init_CPose2D

mrpt::rtti::CLASSINIT mrpt::poses::CPose2D::_init_CPose2D
staticprotected

Definition at line 43 of file CPose2D.h.

◆ className

constexpr const char* mrpt::poses::CPose2D::className = "CPose2D"
static

Definition at line 43 of file CPose2D.h.

◆ m_coords

◆ m_cosphi

double mrpt::poses::CPose2D::m_cosphi
mutableprotected

◆ m_cossin_uptodate

bool mrpt::poses::CPose2D::m_cossin_uptodate {false}
mutableprotected

◆ m_phi

double mrpt::poses::CPose2D::m_phi {0}
protected

◆ m_sinphi

double mrpt::poses::CPose2D::m_sinphi
mutableprotected

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose2D::runtimeClassId
staticprotected

Definition at line 43 of file CPose2D.h.




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