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mrpt::poses::CPose2D Class Reference

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.

For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer to the 2D/3D Geometry tutorial in the wiki.

CPose2D.gif
See also:
CPoseOrPoint,CPoint2D

Definition at line 52 of file CPose2D.h.

#include <mrpt/poses/CPose2D.h>

Inheritance diagram for mrpt::poses::CPose2D:
Inheritance graph
[legend]

List of all members.

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 CNetworkOfPoses.

Public Member Functions

 CPose2D ()
 Default constructor (all coordinates to 0)
 CPose2D (const double x, const double y, const double phi)
 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.
 CPose2D (TConstructorFlags_Poses constructor_dummy_param)
 Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument.
const double & phi () const
 Get the phi angle of the 2D pose (in radians)
double & phi ()
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 $ a = this \oplus D $ is the pose compounding operator.
void composeFrom (const CPose2D &A, const CPose2D &B)
 Makes $ this = A \oplus B $.
CPose3D operator+ (const CPose3D &D) const
 The operator $ a = this \oplus D $ is the pose compounding operator.
CPoint2D operator+ (const CPoint2D &u) const
 The operator $ u' = this \oplus u $ is the pose/point compounding operator.
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.
CPoint3D operator+ (const CPoint3D &u) const
 The operator $ u' = this \oplus u $ is the pose/point compounding operator.
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.
CPose2D operator- (const CPose2D &b) const
 Compute $ RET = this \oplus b $.
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 $ this = this \oplus b $.
void normalizePhi ()
 Forces "phi" to be in the range [-pi,pi];.
void asString (std::string &s) const
 Returns a human-readable textual representation of the object (eg: "[x y yaw]", yaw in degrees)
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]" )
const double & operator[] (unsigned int i) const
double & operator[] (unsigned int i)
void changeCoordinatesReference (const CPose2D &p)
 makes: this = p (+) this

Static Public Member Functions

static bool is_3D ()
static bool is_PDF ()

Public Attributes

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

Protected Attributes

double m_phi
 The orientation of the pose, in radians.

STL-like methods and typedefs

enum  { static_size = 3 }
typedef double value_type
 The type of the elements.
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)

RTTI stuff

typedef CPose2DPtr SmartPtr
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.
virtual mrpt::utils::CObject * duplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject * CreateObject ()
static CPose2DPtr Create ()

Member Typedef Documentation

typedef const double& mrpt::poses::CPose2D::const_reference

Definition at line 218 of file CPose2D.h.

typedef std::ptrdiff_t mrpt::poses::CPose2D::difference_type

Definition at line 220 of file CPose2D.h.

typedef double& mrpt::poses::CPose2D::reference

Definition at line 217 of file CPose2D.h.

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

Definition at line 219 of file CPose2D.h.

typedef CPose2DPtr mrpt::poses::CPose2D::SmartPtr

A typedef for the associated smart pointer

Definition at line 56 of file CPose2D.h.

typedef CPose2D mrpt::poses::CPose2D::type_value

Used to emulate CPosePDF types, for example, in CNetworkOfPoses.

Definition at line 207 of file CPose2D.h.

typedef double mrpt::poses::CPose2D::value_type

The type of the elements.

Definition at line 216 of file CPose2D.h.

Member Enumeration Documentation

anonymous enum
Enumerator:
is_3D_val 

Definition at line 208 of file CPose2D.h.

anonymous enum
Enumerator:
rotation_dimensions 

Definition at line 210 of file CPose2D.h.

anonymous enum
Enumerator:
is_PDF_val 

Definition at line 211 of file CPose2D.h.

anonymous enum
Enumerator:
static_size 

Definition at line 223 of file CPose2D.h.

Constructor & Destructor Documentation

mrpt::poses::CPose2D::CPose2D (  )

Default constructor (all coordinates to 0)

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

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.

mrpt::poses::CPose2D::CPose2D ( TConstructorFlags_Poses  constructor_dummy_param ) [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

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose2D::_GetBaseClass (  ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

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::asString ( std::string &  s ) const [inline]

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

See also:
fromString

Definition at line 165 of file CPose2D.h.

References mrpt::format(), mrpt::utils::RAD2DEG(), and internal::y.

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

Definition at line 166 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 205 of file CPose2D.h.

void mrpt::poses::CPose2D::composeFrom ( const CPose2D &  A,
const CPose2D &  B 
)

Makes $ this = A \oplus B $.

Note:
A or B can be "this" without problems.
void mrpt::poses::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.

static CPose2DPtr mrpt::poses::CPose2D::Create (  ) [static]
static mrpt::utils::CObject* mrpt::poses::CPose2D::CreateObject (  ) [static]
virtual mrpt::utils::CObject* mrpt::poses::CPose2D::duplicate (  ) const [virtual]

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

Implements mrpt::utils::CObject.

static bool mrpt::poses::CPose2D::empty (  ) [inline, static]

Definition at line 225 of file CPose2D.h.

void mrpt::poses::CPose2D::fromString ( const std::string &  s ) [inline]

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 172 of file CPose2D.h.

References ASSERTMSG_, mrpt::utils::DEG2RAD(), mrpt::math::size(), THROW_EXCEPTION, and internal::y.

void mrpt::poses::CPose2D::getAsVector ( vector_double &  v ) const

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

void mrpt::poses::CPose2D::getHomogeneousMatrix ( CMatrixDouble44 &  out_HM ) const

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

See also:
getInverseHomogeneousMatrix
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 mrpt::poses::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

Referenced by operator-().

static bool mrpt::poses::CPose2D::is_3D (  ) [inline, static]

Definition at line 209 of file CPose2D.h.

static bool mrpt::poses::CPose2D::is_PDF (  ) [inline, static]

Definition at line 212 of file CPose2D.h.

static size_type mrpt::poses::CPose2D::max_size (  ) [inline, static]

Definition at line 226 of file CPose2D.h.

References static_size.

void mrpt::poses::CPose2D::normalizePhi (  )

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

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

Scalar multiplication.

CPoint2D mrpt::poses::CPose2D::operator+ ( const CPoint2D &  u ) const

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

CPoint3D mrpt::poses::CPose2D::operator+ ( const CPoint3D &  u ) const

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

CPose2D mrpt::poses::CPose2D::operator+ ( const CPose2D &  D ) const

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

CPose3D mrpt::poses::CPose2D::operator+ ( const CPose3D &  D ) const

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

CPose2D& mrpt::poses::CPose2D::operator+= ( const CPose2D &  b ) [inline]

Make $ this = this \oplus b $.

Definition at line 152 of file CPose2D.h.

CPose2D mrpt::poses::CPose2D::operator- ( const CPose2D &  b ) const [inline]

Compute $ RET = this \oplus b $.

Definition at line 135 of file CPose2D.h.

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

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

Definition at line 192 of file CPose2D.h.

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

Definition at line 181 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 92 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 87 of file CPose2D.h.

Referenced by mrpt::poses::SE_traits< 2 >::exp(), mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), and mrpt::poses::SE_traits< 2 >::ln().

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 89 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 94 of file CPose2D.h.

static void mrpt::poses::CPose2D::resize ( const size_t  n ) [inline, static]

Definition at line 227 of file CPose2D.h.

References mrpt::format(), and static_size.

static size_type mrpt::poses::CPose2D::size (  ) [inline, static]

Definition at line 224 of file CPose2D.h.

References static_size.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::poses::CPose2D::_init_CPose2D [static, protected]

Definition at line 56 of file CPose2D.h.

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

Definition at line 56 of file CPose2D.h.

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

Definition at line 56 of file CPose2D.h.

mrpt::math::CArrayDouble<2> mrpt::poses::CPose2D::m_coords

[x,y]

Definition at line 59 of file CPose2D.h.

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

The orientation of the pose, in radians.

Definition at line 62 of file CPose2D.h.



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