mrpt::poses::CPose2D Class Reference

A class used to store a 2D pose. More...

#include <mrpt/poses/CPose2D.h>

Inheritance diagram for mrpt::poses::CPose2D:

List of all members.

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 is the pose compounding operator.
CPose3D	operator+ (const CPose3D &D) const
	The operator is the pose compounding operator.
CPoint2D	operator+ (const CPoint2D &u) const
	The operator is the pose/point compounding operator.
CPoint3D	operator+ (const CPoint3D &u) const
	The operator is the pose/point compounding operator.
CPose2D	operator- (const CPose2D &b) const
	The operator is the pose inverse compounding operator, the resulting pose D fulfils: , that is: .
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

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Detailed Description

A class used to store a 2D pose.

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.

poses::CPose2D
Homogeneous transfomation matrix	Spatial representation
cosj -sinj 0 x sinj cosj 0 y 0 0 1 0 0 0 0 1

See also:

CPoseOrPoint,CPoint2D

Definition at line 154 of file CPose2D.h.

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Constructor & Destructor Documentation

mrpt::poses::CPose2D::CPose2D	(	const double &	x = 0,
		const double &	y = 0,
		const double &	phi = 0
	)

Constructor from an initial value of the pose.

mrpt::poses::CPose2D::CPose2D

(

const CPoint2D &

)

Constructor from a CPoint2D object.

mrpt::poses::CPose2D::CPose2D

(

const CPose3D &

)

[explicit]

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

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Member Function Documentation

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).

See also:

getInverseHomogeneousMatrix

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).

See also:

getInverseHomogeneousMatrix

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]

Scalar multiplication.

Implements mrpt::poses::CPoseOrPoint.

CPoint3D mrpt::poses::CPose2D::operator+

(

const CPoint3D &

u

)

const

The operator is the pose/point compounding operator.

Reimplemented from mrpt::poses::CPose.

CPoint2D mrpt::poses::CPose2D::operator+

(

const CPoint2D &

u

)

const

The operator is the pose/point compounding operator.

CPose3D mrpt::poses::CPose2D::operator+

(

const CPose3D &

D

)

const

The operator is the pose compounding operator.

Reimplemented from mrpt::poses::CPose.

CPose2D mrpt::poses::CPose2D::operator+

(

const CPose2D &

D

)

const

The operator is the pose compounding operator.

CPose2D mrpt::poses::CPose2D::operator-

(

const CPose2D &

b

)

const

The operator is the pose inverse compounding operator, the resulting pose D fulfils: , that is: .

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Member Data Documentation

math::CMatrixDouble mrpt::poses::CPose2D::aux_HM [mutable, protected]

Definition at line 160 of file CPose2D.h.

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().