#include <mrpt/poses/CPose2D.h>
Public Member Functions | |
CPose2D (const double &x=0, const double &y=0, const double &phi=0) | |
Constructor from an initial value of the pose. | |
CPose2D (const CPoint2D &) | |
Constructor from a CPoint2D object. | |
CPose2D (const CPose3D &) | |
Aproximation!! Avoid its use, since information is lost. | |
const math::CMatrixDouble & | getHomogeneousMatrix () const |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation), or pose (translation+orientation). | |
void | getHomogeneousMatrix (const math::CMatrixDouble *&ptrHM) const |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation), or pose (translation+orientation). | |
CPose2D | operator+ (const CPose2D &D) const |
The operator ![]() | |
CPose3D | operator+ (const CPose3D &D) const |
The operator ![]() | |
CPoint2D | operator+ (const CPoint2D &u) const |
The operator ![]() | |
CPoint3D | operator+ (const CPoint3D &u) const |
The operator ![]() | |
CPose2D | operator- (const CPose2D &b) const |
The operator ![]() ![]() ![]() | |
void | AddComponents (CPose2D &p) |
Scalar sum of components: This is diferent from poses composition, which is implemented as "+" operators in "CPose" derived classes. | |
void | operator*= (const double &s) |
Scalar multiplication. | |
void | normalizePhi () |
Forces "phi" to be in the range [-pi,pi];. | |
Public Attributes | |
double | phi |
The orientation of the pose, in radians. | |
Protected Attributes | |
math::CMatrixDouble | aux_HM |
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle. It is used in many situations, from defining a robot pose, maps relative poses, sensors,...
For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer to the 2D/3D Geometry tutorial in the wiki.
Homogeneous transfomation matrix | Spatial representation | ||||||||||||||||
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Definition at line 154 of file CPose2D.h.
mrpt::poses::CPose2D::CPose2D | ( | const double & | x = 0 , |
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const double & | y = 0 , |
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const double & | phi = 0 | |||
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Constructor from an initial value of the pose.
mrpt::poses::CPose2D::CPose2D | ( | const CPose3D & | ) | [explicit] |
Aproximation!! Avoid its use, since information is lost.
void mrpt::poses::CPose2D::AddComponents | ( | CPose2D & | p | ) |
Scalar sum of components: This is diferent from poses composition, which is implemented as "+" operators in "CPose" derived classes.
void mrpt::poses::CPose2D::getHomogeneousMatrix | ( | const math::CMatrixDouble *& | ptrHM | ) | const [virtual] |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation), or pose (translation+orientation).
Implements mrpt::poses::CPoseOrPoint.
const math::CMatrixDouble& mrpt::poses::CPose2D::getHomogeneousMatrix | ( | ) | const [virtual] |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation), or pose (translation+orientation).
Implements mrpt::poses::CPoseOrPoint.
void mrpt::poses::CPose2D::normalizePhi | ( | ) |
Forces "phi" to be in the range [-pi,pi];.
void mrpt::poses::CPose2D::operator*= | ( | const double & | s | ) | [virtual] |
The operator is the pose/point compounding operator.
The operator is the pose compounding operator.
The operator is the pose inverse compounding operator, the resulting pose D fulfils:
, that is:
.
math::CMatrixDouble mrpt::poses::CPose2D::aux_HM [mutable, protected] |
double mrpt::poses::CPose2D::phi |
The orientation of the pose, in radians.
Definition at line 177 of file CPose2D.h.
Referenced by mrpt::slam::CRobotSimulator::GetOdometry(), and mrpt::slam::CRobotSimulator::GetRealPose().
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