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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 the 2D/3D Geometry tutorial in the wiki.

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

Definition at line 36 of file CPose2D.h.

#include <mrpt/poses/CPose2D.h>

Inheritance diagram for mrpt::poses::CPose2D:
Inheritance graph

Public Types

enum  { is_3D_val = 0 }
 
enum  { rotation_dimensions = 2 }
 
enum  { is_PDF_val = 0 }
 
typedef CPose2D type_value
 Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses. More...
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 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...
 
 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 getAsVector (mrpt::math::CVectorDouble &v) const
 Returns a 1x3 vector with [x y phi]. More...
 
void getAsVector (mrpt::math::CArrayDouble< 3 > &v) const
 
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...
 
mrpt::math::CMatrixDouble22 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...
 
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
 
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...
 
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...
 
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 () MRPT_OVERRIDE
 Set all data fields to quiet NaN. More...
 
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...
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 
static bool is_3D ()
 
static bool is_PDF ()
 

Public Attributes

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

Static Public Attributes

static const
mrpt::utils::TRuntimeClassId 
classCObject
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCSerializable
 

Protected Member Functions

void update_cached_cos_sin () const
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 

Protected Attributes

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

RTTI stuff

typedef CPose2DPtr Ptr
 
typedef CPose2DPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CPose2D
 
static mrpt::utils::TRuntimeClassId classCPose2D
 
static const
mrpt::utils::TRuntimeClassId
classinfo
 
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
 
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CPose2DPtr Create ()
 

STL-like methods and typedefs

enum  { static_size = 3 }
 
typedef double value_type
 The type of the elements. More...
 
typedef double & reference
 
typedef const double & const_reference
 
typedef std::size_t size_type
 
typedef std::ptrdiff_t difference_type
 
static size_type size ()
 
static bool empty ()
 
static size_type max_size ()
 
static void resize (const size_t n)
 
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 > &b) const
 Returns the squared euclidean distance to another pose/point: More...
 
double distanceTo (const CPoseOrPoint< OTHERCLASS > &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...
 
mrpt::math::CVectorDouble getAsVectorVal () const
 Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation) More...
 
mrpt::math::CMatrixDouble44 getHomogeneousMatrixVal () const
 Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...
 
void getInverseHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const
 Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. More...
 
mrpt::math::CMatrixDouble44 getInverseHomogeneousMatrix () const
 
static bool is3DPoseOrPoint ()
 Return true for poses or points with a Z component, false otherwise. More...
 

Member Typedef Documentation

Definition at line 245 of file CPose2D.h.

typedef CPose2DPtr mrpt::poses::CPose2D::ConstPtr

Definition at line 40 of file CPose2D.h.

Definition at line 247 of file CPose2D.h.

typedef CPose2DPtr mrpt::poses::CPose2D::Ptr

A typedef for the associated smart pointer

Definition at line 40 of file CPose2D.h.

Definition at line 244 of file CPose2D.h.

typedef std::size_t mrpt::poses::CPose2D::size_type

Definition at line 246 of file CPose2D.h.

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

Definition at line 229 of file CPose2D.h.

The type of the elements.

Definition at line 243 of file CPose2D.h.

Member Enumeration Documentation

anonymous enum
Enumerator
is_3D_val 

Definition at line 230 of file CPose2D.h.

anonymous enum
Enumerator
rotation_dimensions 

Definition at line 232 of file CPose2D.h.

anonymous enum
Enumerator
is_PDF_val 

Definition at line 233 of file CPose2D.h.

anonymous enum
Enumerator
static_size 

Definition at line 250 of file CPose2D.h.

Constructor & Destructor Documentation

CPose2D::CPose2D ( )

Default constructor (all coordinates to 0)

Definition at line 30 of file CPose2D.cpp.

Referenced by operator+().

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

Constructor from an initial value of the pose.

Definition at line 36 of file CPose2D.cpp.

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

CPose2D::CPose2D ( const CPoint2D p)
explicit
CPose2D::CPose2D ( const CPose3D p)
explicit

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

Definition at line 49 of file CPose2D.cpp.

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

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

Constructor from lightweight object.

Definition at line 293 of file CPose2D.cpp.

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

CPose2D::CPose2D ( const CPoint3D o)
explicit

Constructor from CPoint3D with information loss.

Definition at line 298 of file CPose2D.cpp.

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

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

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

Definition at line 81 of file CPose2D.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose2D::_GetBaseClass ( )
staticprotected
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 247 of file CPose2D.cpp.

References m_coords, m_cossin_uptodate, and m_phi.

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

Definition at line 403 of file CPose2D.cpp.

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

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

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

Definition at line 192 of file CPose2D.h.

References asString().

Referenced by asString().

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

makes: this = p (+) this

Definition at line 224 of file CPose2D.h.

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

void CPose2D::composeFrom ( const CPose2D A,
const CPose2D B 
)
void CPose2D::composePoint ( double  lx,
double  ly,
double &  gx,
double &  gy 
) const
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 186 of file CPose2D.cpp.

References composePoint(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

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 192 of file CPose2D.cpp.

References composePoint(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

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 197 of file CPose2D.cpp.

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

static CPose2DPtr mrpt::poses::CPose2D::Create ( )
static
static mrpt::utils::CObject* mrpt::poses::CPose2D::CreateObject ( )
static
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 386 of file CPose2D.cpp.

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

double mrpt::poses::CPoseOrPoint< CPose2D >::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 165 of file CPoseOrPoint.h.

double mrpt::poses::CPoseOrPoint< CPose2D >::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 156 of file CPoseOrPoint.h.

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

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

Definition at line 168 of file CPoseOrPoint.h.

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

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

Definition at line 159 of file CPoseOrPoint.h.

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

Returns the Euclidean distance to another pose/point:

Definition at line 150 of file CPoseOrPoint.h.

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

Returns the euclidean distance to a 3D point:

Definition at line 171 of file CPoseOrPoint.h.

virtual mrpt::utils::CObject* mrpt::poses::CPose2D::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 140 of file CObject.h.

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

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

Definition at line 252 of file CPose2D.h.

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 376 of file CPose2D.cpp.

References ASSERTMSG_, DEG2RAD, phi(), mrpt::mrpt::math::size(), THROW_EXCEPTION, mrpt::poses::CPoseOrPoint< CPose2D >::x(), and mrpt::poses::CPoseOrPoint< CPose2D >::y().

void CPose2D::getAsVector ( mrpt::math::CVectorDouble v) const

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

Definition at line 331 of file CPose2D.cpp.

References m_coords, and m_phi.

void CPose2D::getAsVector ( mrpt::math::CArrayDouble< 3 > &  v) 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 339 of file CPose2D.cpp.

References m_coords, and m_phi.

mrpt::math::CVectorDouble mrpt::poses::CPoseOrPoint< CPose2D >::getAsVectorVal ( ) const
inlineinherited

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

Definition at line 181 of file CPoseOrPoint.h.

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 272 of file CPose2D.cpp.

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

Referenced by mrpt::poses::CPosePDFSOG::changeCoordinatesReference(), and operator-().

mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< CPose2D >::getHomogeneousMatrixVal ( ) const
inlineinherited

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

See Also
getInverseHomogeneousMatrix

Definition at line 191 of file CPoseOrPoint.h.

void mrpt::poses::CPoseOrPoint< CPose2D >::getInverseHomogeneousMatrix ( mrpt::math::CMatrixDouble44 out_HM) const
inlineinherited

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

See Also
getHomogeneousMatrix

Definition at line 201 of file CPoseOrPoint.h.

mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< CPose2D >::getInverseHomogeneousMatrix ( ) 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 208 of file CPoseOrPoint.h.

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

Definition at line 236 of file CPose2D.h.

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

Definition at line 237 of file CPose2D.h.

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

Returns the SE(2) 2x2 rotation matrix.

Definition at line 139 of file CPose2D.cpp.

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

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

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

Definition at line 146 of file CPose2D.cpp.

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

mrpt::math::CMatrixDouble22 mrpt::poses::CPose2D::getRotationMatrix ( ) const
inline

Definition at line 111 of file CPose2D.h.

References R, and mrpt::math::UNINITIALIZED_MATRIX.

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose2D::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

void CPose2D::inverse ( )

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

See Also
operator-

Definition at line 315 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-().

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 233 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-().

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 205 of file CPose2D.cpp.

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

Referenced by mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

void mrpt::poses::CPose2D::inverseComposePoint ( const mrpt::math::TPoint2D g,
mrpt::math::TPoint2D l 
) const
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 144 of file CPose2D.h.

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

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

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

Definition at line 127 of file CPoseOrPoint.h.

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

Definition at line 231 of file CPose2D.h.

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

Definition at line 234 of file CPose2D.h.

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

Definition at line 253 of file CPose2D.h.

References static_size.

double mrpt::poses::CPoseOrPoint< CPose2D >::norm ( ) const
inlineinherited

Returns the euclidean norm of vector: $ ||\mathbf{x}|| = \sqrt{x^2+y^2+z^2} $.

Definition at line 174 of file CPoseOrPoint.h.

void CPose2D::normalizePhi ( )
void mrpt::poses::CPose2D::operator delete ( void ptr)
throw (
)
inline

Definition at line 40 of file CPose2D.h.

void mrpt::poses::CPose2D::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 40 of file CPose2D.h.

void mrpt::poses::CPose2D::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 40 of file CPose2D.h.

void mrpt::poses::CPose2D::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 40 of file CPose2D.h.

void* mrpt::poses::CPose2D::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 40 of file CPose2D.h.

void* mrpt::poses::CPose2D::operator new ( size_t  size)
inline

Definition at line 40 of file CPose2D.h.

static void* mrpt::poses::CPose2D::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 40 of file CPose2D.h.

void* mrpt::poses::CPose2D::operator new[] ( size_t  size)
inline

Definition at line 40 of file CPose2D.h.

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

Scalar multiplication.

Definition at line 259 of file CPose2D.cpp.

References m_coords, m_cossin_uptodate, and m_phi.

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

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

Definition at line 109 of file CPose2D.cpp.

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

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

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

Definition at line 160 of file CPose2D.cpp.

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

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

Definition at line 168 of file CPose2D.cpp.

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

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

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

Definition at line 219 of file CPose2D.cpp.

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

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

Make $ this = this \oplus b $.

Definition at line 370 of file CPose2D.cpp.

References composeFrom().

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

Compute $ RET = this \ominus b $.

Definition at line 161 of file CPose2D.h.

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

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

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

Definition at line 391 of file CPose2D.cpp.

References getHomogeneousMatrix(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix(), and mrpt::math::UNINITIALIZED_MATRIX.

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

Definition at line 200 of file CPose2D.h.

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

Definition at line 211 of file CPose2D.h.

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

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

Definition at line 84 of file CPose2D.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::accumulateAngleDiffs(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::graphs::detail::graph_ops< GRAPH_T >::auxEuclid2Dist(), mrpt::poses::CPosePDFGaussianInf::bayesianFusion(), mrpt::poses::CPosePDFGaussian::bayesianFusion(), mrpt::poses::CPosePDFGaussian::changeCoordinatesReference(), mrpt::poses::CPosePDFGaussianInf::changeCoordinatesReference(), mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::checkRegistrationCondition(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelGaussian(), mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun(), mrpt::maps::COccupancyGridMap2D::computeLikelihoodField_Thrun(), mrpt::poses::CPosePDFParticles::copyFrom(), mrpt::poses::CPose3D::CPose3D(), mrpt::maps::CPointsMap::determineMatching2D(), distance2DFrobeniusTo(), mrpt::poses::CPoseRandomSampler::do_sample_2D(), mrpt::poses::CPosePDFGaussianInf::drawManySamples(), mrpt::poses::CPosePDFGaussian::drawManySamples(), mrpt::poses::CPoseRandomSampler::drawSample(), mrpt::poses::CPosePDFGaussianInf::drawSingleSample(), mrpt::poses::CPosePDFGaussian::drawSingleSample(), mrpt::obs::CActionRobotMovement2D::drawSingleSample_modelThrun(), mrpt::poses::SE_traits< 2 >::exp(), mrpt::obs::CActionRobotMovement2D::fastDrawSingleSample_modelGaussian(), fromString(), func_laserSimul_callback(), mrpt::math::TLine2D::getAsPose2D(), mrpt::math::TLine2D::getAsPose2DForcingOrigin(), mrpt::poses::CPosePDFParticles::getCovarianceAndMean(), mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), mrpt::maps::COccupancyGridMap2D::internal_insertObservation(), mrpt::poses::CPosePDFGaussianInf::inverse(), mrpt::poses::CPosePDFGaussian::inverse(), mrpt::poses::CPosePDFGaussian::inverseComposition(), mrpt::poses::CPosePDF::jacobiansPoseComposition(), mrpt::slam::KLF_loadBinFromParticle(), mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::poses::SE_traits< 2 >::ln(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::loadTPathBinFromPath(), mrpt::poses::CPosePDFSOG::mergeModes(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetAction(), mrpt::slam::CRangeBearingKFSLAM2D::OnObservationModel(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionModel(), mrpt::poses::operator!=(), mrpt::poses::CPosePDFSOG::operator+=(), mrpt::poses::CPoint2D::operator-(), mrpt::poses::operator<<(), mrpt::poses::operator==(), mrpt::opengl::CSetOfObjects::posePDF2opengl(), mrpt::detectors::CDetectorDoorCrossing::process(), mrpt::math::project2D(), ransac_data_assoc_run(), readFromStream(), mrpt::slam::CRejectionSamplingRangeOnlyLocalization::RS_drawFromProposal(), mrpt::poses::CPosePDFGaussian::saveToTextFile(), mrpt::poses::CPosePDFGaussianInf::saveToTextFile(), mrpt::tfest::se2_l2_robust(), mrpt::nav::PlannerRRT_SE2_TPS::solve(), mrpt::maps::COccupancyGridMap2D::sonarSimulator(), mrpt::utils::TMatchingPairList::squareErrorVector(), Pose3DTests::test_to_from_2d(), mrpt::slam::CMetricMapBuilderICP::TDist::updateDistances(), mrpt::graphs::detail::graph_ops< GRAPH_T >::write_EDGE_line(), mrpt::graphs::detail::graph_ops< GRAPH_T >::write_VERTEX_line(), and mrpt::poses::CPosePDFGaussianInf::writeToStream().

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 86 of file CPose2D.h.

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

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

Definition at line 94 of file CPose2D.h.

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 89 of file CPose2D.h.

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

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 96 of file CPose2D.h.

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 91 of file CPose2D.h.

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

void CPose2D::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

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 error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 74 of file CPose2D.cpp.

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

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

Definition at line 254 of file CPose2D.h.

References mrpt::format(), and static_size.

void CPose2D::setToNaN ( )
virtual

Set all data fields to quiet NaN.

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

Definition at line 408 of file CPose2D.cpp.

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

Definition at line 251 of file CPose2D.h.

References static_size.

Referenced by mrpt::slam::CRangeBearingKFSLAM2D::OnObservationModel().

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

Returns the squared euclidean distance to another pose/point:

Definition at line 130 of file CPoseOrPoint.h.

void mrpt::poses::CPose2D::update_cached_cos_sin ( ) const
inlineprotected
virtual mxArray* mrpt::utils::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 NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

void CPose2D::writeToStream ( mrpt::utils::CStream out,
int getVersion 
) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 59 of file CPose2D.cpp.

References m_coords, and m_phi.

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

Common members of all points & poses classes.

< Get X coord.

Definition at line 113 of file CPoseOrPoint.h.

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

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

Definition at line 116 of file CPoseOrPoint.h.

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

Definition at line 119 of file CPoseOrPoint.h.

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

Definition at line 122 of file CPoseOrPoint.h.

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

< Get Y coord.

Definition at line 114 of file CPoseOrPoint.h.

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

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

Definition at line 117 of file CPoseOrPoint.h.

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

Definition at line 120 of file CPoseOrPoint.h.

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

Definition at line 123 of file CPoseOrPoint.h.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::poses::CPose2D::_init_CPose2D
staticprotected

Definition at line 40 of file CPose2D.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 128 of file CObject.h.

mrpt::utils::TRuntimeClassId mrpt::poses::CPose2D::classCPose2D
static

Definition at line 40 of file CPose2D.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose2D::classinfo
static

Definition at line 40 of file CPose2D.h.

mrpt::math::CArrayDouble<2> mrpt::poses::CPose2D::m_coords
double mrpt::poses::CPose2D::m_cosphi
mutableprotected
bool mrpt::poses::CPose2D::m_cossin_uptodate
mutableprotected
double mrpt::poses::CPose2D::m_phi
protected

The orientation of the pose, in radians.

Definition at line 46 of file CPose2D.h.

Referenced by AddComponents(), asString(), composeFrom(), getAsVector(), inverse(), inverseComposeFrom(), normalizePhi(), operator*=(), operator+(), readFromStream(), and writeToStream().

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

Precomputed cos() & sin() of phi.

Definition at line 47 of file CPose2D.h.

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




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