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.
	CPose2D (const mrpt::math::TPose2D &)
	Constructor from lightweight object.
	CPose2D (const CPoint3D &)
	Constructor from CPoint3D with information loss.
double	phi () const
	Get the phi angle of the 2D pose (in radians).
void	phi (double angle)
	Set the phi angle of the 2D pose (in radians).
void	phi_incr (const double Aphi)
	Increment the PHI angle (without checking the 2 PI range, call normalizePhi is needed).
void	getAsVector (vector_double &v) const
	Returns a 1x3 vector with [x y phi].
void	getHomogeneousMatrix (CMatrixDouble44 &out_HM) 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.
void	composeFrom (const CPose2D &A, const CPose2D &B)
	Makes .
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.
CPose2D &	operator+= (const CPose2D &b)
	Make .
void	normalizePhi ()
	Forces "phi" to be in the range [-pi,pi];.
Protected Attributes
double	m_phi
	The orientation of the pose, in radians.

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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.

mrpt::poses::CPose2D::CPose2D

(

const mrpt::math::TPose2D &

)

Constructor from lightweight object.

mrpt::poses::CPose2D::CPose2D

(

const CPoint3D &

)

[explicit]

Constructor from CPoint3D with information loss.

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

Makes .

Note:

A or B can be "this" without problems.

void mrpt::poses::CPose2D::getAsVector

(

vector_double &

v

)

const [virtual]

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

Implements mrpt::poses::CPoseOrPoint.

void mrpt::poses::CPose2D::getHomogeneousMatrix

(

CMatrixDouble44 &

out_HM

)

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.

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.

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

(

const CPose2D &

D

)

const

The operator is the pose compounding operator.

CPose2D& mrpt::poses::CPose2D::operator+=

(

const CPose2D &

b

)

[inline]

Make .

Definition at line 235 of file CPose2D.h.

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

(

const CPose2D &

b

)

const

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

void mrpt::poses::CPose2D::phi

(

double

angle

)

[inline]

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

Definition at line 187 of file CPose2D.h.

double mrpt::poses::CPose2D::phi

(

)

const [inline]

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

Definition at line 184 of file CPose2D.h.

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 189 of file CPose2D.h.

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Member Data Documentation

double mrpt::poses::CPose2D::m_phi [protected]

The orientation of the pose, in radians.

Definition at line 160 of file CPose2D.h.