mrpt::math::TPose2D Struct Reference

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Detailed Description

Lightweight 2D pose.

Allows coordinate access using [] operator.

See also:

mrpt::poses::CPose2D

Definition at line 194 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

List of all members.

Public Member Functions
	TPose2D (const TPoint2D &p)
	Implicit constructor from TPoint2D.
	TPose2D (const TPoint3D &p)
	Constructor from TPoint3D, losing information.
	TPose2D (const TPose3D &p)
	Constructor from TPose3D, losing information.
	TPose2D (const mrpt::poses::CPose2D &p)
	Implicit constructor from heavyweight type.
	TPose2D (double xx, double yy, double pphi)
	Constructor from coordinates.
	TPose2D ()
	Default fast constructor.
double &	operator[] (size_t i)
	Unsafe coordinate access using operator[].
const double &	operator[] (size_t i) const
	Unsafe coordinate access using operator[].
void	getAsVector (vector_double &v) const
	Transformation into vector.
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 -45.0]" )
Static Public Member Functions
static size_t	size ()
Public Attributes
double	x
	X coordinate.
double	y
	Y coordinate.
double	phi
	Phi coordinate.

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Constructor & Destructor Documentation

mrpt::math::TPose2D::TPose2D

(

const TPoint2D &

p )

Implicit constructor from TPoint2D.

Zeroes the phi coordinate.

See also:

TPoint2D

mrpt::math::TPose2D::TPose2D

(

const TPoint3D &

p )

[explicit]

Constructor from TPoint3D, losing information.

Zeroes the phi coordinate.

See also:

TPoint3D

mrpt::math::TPose2D::TPose2D

(

const TPose3D &

p )

[explicit]

Constructor from TPose3D, losing information.

The phi corresponds to the original pose's yaw.

See also:

TPose3D

mrpt::math::TPose2D::TPose2D

(

const mrpt::poses::CPose2D &

p )

Implicit constructor from heavyweight type.

See also:

mrpt::poses::CPose2D

mrpt::math::TPose2D::TPose2D	(	double	xx,
		double	yy,
		double	pphi
	)		[inline]

Constructor from coordinates.

Definition at line 230 of file lightweight_geom_data.h.

mrpt::math::TPose2D::TPose2D

(

)

[inline]

Default fast constructor.

Initializes to garbage.

Definition at line 234 of file lightweight_geom_data.h.

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Member Function Documentation

void mrpt::math::TPose2D::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 257 of file lightweight_geom_data.h.

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

std::string mrpt::math::TPose2D::asString

(

)

const [inline]

Definition at line 258 of file lightweight_geom_data.h.

References asString().

Referenced by asString().

void mrpt::math::TPose2D::fromString

(

const std::string &

s )

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -45.0]" )

See also:

asString

Exceptions:

std::exception

On invalid format

void mrpt::math::TPose2D::getAsVector

(

vector_double &

v )

const [inline]

Transformation into vector.

Definition at line 250 of file lightweight_geom_data.h.

References mrpt::dynamicsize_vector< T >::resize(), and internal::y.

const double& mrpt::math::TPose2D::operator[]

(

size_t

i )

const [inline]

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 244 of file lightweight_geom_data.h.

double& mrpt::math::TPose2D::operator[]

(

size_t

i )

[inline]

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 238 of file lightweight_geom_data.h.

static size_t mrpt::math::TPose2D::size

(

)

[inline, static]

Definition at line 265 of file lightweight_geom_data.h.

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Member Data Documentation

double mrpt::math::TPose2D::phi

Phi coordinate.

Definition at line 206 of file lightweight_geom_data.h.

Referenced by mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), mrpt::math::operator!=(), and mrpt::math::operator==().

double mrpt::math::TPose2D::x

X coordinate.

Definition at line 198 of file lightweight_geom_data.h.

Referenced by mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), mrpt::math::operator!=(), and mrpt::math::operator==().

double mrpt::math::TPose2D::y

Y coordinate.

Definition at line 202 of file lightweight_geom_data.h.

Referenced by mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), mrpt::math::operator!=(), and mrpt::math::operator==().