A 2-dimensional pose, i.e. More...

#include <>>

Inheritance diagram for fawkes::HomPose2d:

Public Member Functions
	HomPose2d (const HomPoint &pos, const HomVector &orientation)
	Constructor.
	HomPose2d (float x=0.0, float y=0.0, float yaw=0.0)
	Constructor.
	HomPose2d (const HomPose2d &p)
	Copy constructor.
	~HomPose2d ()
	Destructor.
const HomPose2d &	operator= (const HomPose2d &p)
	Assignment operator.
float	x () const
	Get the x-coordinate of the position.
void	x (float x)
	Set the x-coordinate of the position.
float	y () const
	Get the y-coordinate of the position.
void	y (float y)
	Set the y-coordinate of the position.
float	yaw () const
	Get the angle of the current orientation [0...2pi].
void	yaw (float yaw)
	Set the angle of the orientation.
const HomPoint &	position () const
	Get the position.
const HomVector &	orientation () const
	Get the orientation vector.
void	set_position (const HomPoint &p)
	Set the positional part of the pose.
Public Member Functions inherited from fawkes::Transformable
	Transformable ()
	Constructor.
virtual	~Transformable ()
	Destructor.

Protected Member Functions
void	register_primitives ()
	Here, a derived class should register its primitives (HomPoints and HomVectors) by calling add_primitive for each of those.
void	post_transform ()
	This method is called after the primitives are transformed.
Protected Member Functions inherited from fawkes::Transformable
void	transform (const HomTransform &t)
	Apply the transform to all registered primitives and call the post_transform() method.
void	add_primitive (HomCoord *c)
	Add a primitive to the list of primitives that is transformed.
void	clear_primitives ()
	Clear the list of primitives.

Detailed Description

A 2-dimensional pose, i.e.

a combination of position and orientation.

Author:: Daniel Beck

Definition at line 33 of file hom_pose_2d.h.

Constructor & Destructor Documentation

fawkes::HomPose2d::HomPose2d	(	const HomPoint &	position,
		const HomVector &	orientation
	)

Constructor.

Parameters:

position	the posititon
orientation	the orientation

Definition at line 41 of file hom_pose_2d.cpp.

References register_primitives(), fawkes::HomVector::unit(), fawkes::HomCoord::x(), and fawkes::HomCoord::y().

fawkes::HomPose2d::HomPose2d	(	float	x = `0.0`,
		float	y = `0.0`,
		float	yaw = `0.0`
	)

Constructor.

Parameters:

x	the x-coordinate of the position
y	the y-coordinate of the position
yaw	the angle of the orientation wrt. the current frame

Definition at line 57 of file hom_pose_2d.cpp.

References register_primitives(), fawkes::HomCoord::rotate_z(), and yaw().

fawkes::HomPose2d::HomPose2d ( const HomPose2d & p )

Copy constructor.

Parameters:

p	the other pose

Definition at line 71 of file hom_pose_2d.cpp.

References register_primitives().

fawkes::HomPose2d::~HomPose2d ( )

Destructor.

Definition at line 82 of file hom_pose_2d.cpp.

Member Function Documentation

const HomPose2d & fawkes::HomPose2d::operator= ( const HomPose2d & p )

Assignment operator.

Parameters:

p	the rhs pose

Returns:: reference to the assigned pose

Definition at line 93 of file hom_pose_2d.cpp.

const HomVector & fawkes::HomPose2d::orientation ( ) const

Get the orientation vector.

Returns:: the orientation vector

Definition at line 189 of file hom_pose_2d.cpp.

const HomPoint & fawkes::HomPose2d::position ( ) const

Get the position.

Returns:: the position

Definition at line 171 of file hom_pose_2d.cpp.

void fawkes::HomPose2d::post_transform ( )

protectedvirtual

This method is called after the primitives are transformed.

Any additional updates that need to be done should be done here.

Implements fawkes::Transformable.

Definition at line 202 of file hom_pose_2d.cpp.

References fawkes::HomCoord::x(), and fawkes::HomCoord::y().

void fawkes::HomPose2d::register_primitives ( )

protectedvirtual

Here, a derived class should register its primitives (HomPoints and HomVectors) by calling add_primitive for each of those.

Implements fawkes::Transformable.

Definition at line 195 of file hom_pose_2d.cpp.

References fawkes::Transformable::add_primitive().

Referenced by HomPose2d().

void fawkes::HomPose2d::set_position ( const HomPoint & p )

Set the positional part of the pose.

Parameters:

p	the new position

Definition at line 180 of file hom_pose_2d.cpp.

float fawkes::HomPose2d::x ( ) const

Get the x-coordinate of the position.

Returns:: the x-coordinate of the position.

Definition at line 107 of file hom_pose_2d.cpp.

References fawkes::HomCoord::x().

Referenced by fawkes::WorldInfoDataContainer::get_ball_pos_global(), and FieldView::on_draw().

void fawkes::HomPose2d::x ( float x )

Set the x-coordinate of the position.

Parameters:

x	the new x-coordinate of the position.

Definition at line 116 of file hom_pose_2d.cpp.

References fawkes::HomCoord::x().

float fawkes::HomPose2d::y ( ) const

Get the y-coordinate of the position.

Returns:: the y-coordinate of the position.

Definition at line 125 of file hom_pose_2d.cpp.

References fawkes::HomCoord::y().

Referenced by fawkes::WorldInfoDataContainer::get_ball_pos_global(), and FieldView::on_draw().

void fawkes::HomPose2d::y ( float y )

Set the y-coordinate of the position.

Parameters:

y	the new x-coordinate of the position.

Definition at line 134 of file hom_pose_2d.cpp.

References fawkes::HomCoord::y().

float fawkes::HomPose2d::yaw ( ) const

Get the angle of the current orientation [0...2pi].

Returns:: the angle of the current orientation

Definition at line 143 of file hom_pose_2d.cpp.

Referenced by fawkes::WorldInfoDataContainer::get_ball_pos_global(), HomPose2d(), FieldView::on_draw(), and yaw().

void fawkes::HomPose2d::yaw ( float yaw )

Set the angle of the orientation.

Parameters:

yaw	the new angle of the orientation

Definition at line 152 of file hom_pose_2d.cpp.

References fawkes::HomCoord::rotate_z(), and yaw().

The documentation for this class was generated from the following files:

src/libs/geometry/hom_pose_2d.h
src/libs/geometry/hom_pose_2d.cpp

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation