Public Member Functions | Static Public Member Functions | Static Public Attributes | Private Attributes | Friends
isam::Pose2d Class Reference

#include <Pose2d.h>

List of all members.

Public Member Functions

Pose2d exmap (const Eigen::Vector3d &delta) const
Eigen::VectorXb is_angle () const
Pose2d ominus (const Pose2d &b) const
Pose2d oplus (const Pose2d &d) const
 Pose2d ()
 Pose2d (double x, double y, double t)
 Pose2d (const Eigen::Vector3d &vec)
void set (double x, double y, double t)
void set (const Eigen::Vector3d &v)
void set_t (double t)
void set_x (double x)
void set_y (double y)
double t () const
Point2d transform_from (const Point2d &p) const
Point2d transform_to (const Point2d &p) const
Eigen::Vector3d vector () const
void write (std::ostream &out) const
double x () const
double y () const

Static Public Member Functions

static const char * name ()

Static Public Attributes

static const int dim = 3
static const int size = 3

Private Attributes

double _t
double _x
double _y


std::ostream & operator<< (std::ostream &out, const Pose2d &p)

Detailed Description

Definition at line 43 of file Pose2d.h.

Constructor & Destructor Documentation

isam::Pose2d::Pose2d ( ) [inline]

Definition at line 60 of file Pose2d.h.

isam::Pose2d::Pose2d ( double  x,
double  y,
double  t 
) [inline]

Definition at line 61 of file Pose2d.h.

isam::Pose2d::Pose2d ( const Eigen::Vector3d &  vec) [inline]

Definition at line 62 of file Pose2d.h.

Member Function Documentation

Pose2d isam::Pose2d::exmap ( const Eigen::Vector3d &  delta) const [inline]

Definition at line 72 of file Pose2d.h.

Definition at line 98 of file Pose2d.h.

static const char* isam::Pose2d::name ( ) [inline, static]

Definition at line 57 of file Pose2d.h.

Pose2d isam::Pose2d::ominus ( const Pose2d b) const [inline]

Odometry d from b to this pose (a). Follows notation of Lu&Milios 1997. $ d = a \ominus b $

bBase frame.
Global this (a) expressed in base frame b.

Definition at line 127 of file Pose2d.h.

Pose2d isam::Pose2d::oplus ( const Pose2d d) const [inline]

Calculate new pose b composed from this pose (a) and the odometry d. Follows notation of Lu&Milios 1997. $ b = a \oplus d $

dPose difference to add.
d transformed from being local in this frame (a) to the global frame.

Definition at line 111 of file Pose2d.h.

void isam::Pose2d::set ( double  x,
double  y,
double  t 
) [inline]

Definition at line 84 of file Pose2d.h.

void isam::Pose2d::set ( const Eigen::Vector3d &  v) [inline]

Definition at line 89 of file Pose2d.h.

void isam::Pose2d::set_t ( double  t) [inline]

Definition at line 70 of file Pose2d.h.

void isam::Pose2d::set_x ( double  x) [inline]

Definition at line 68 of file Pose2d.h.

void isam::Pose2d::set_y ( double  y) [inline]

Definition at line 69 of file Pose2d.h.

double isam::Pose2d::t ( ) const [inline]

Definition at line 66 of file Pose2d.h.

Point2d isam::Pose2d::transform_from ( const Point2d p) const [inline]

Definition at line 153 of file Pose2d.h.

Point2d isam::Pose2d::transform_to ( const Point2d p) const [inline]

Project point into this coordinate frame.

pPoint to project
Point p locally expressed in this frame.

Definition at line 143 of file Pose2d.h.

Eigen::Vector3d isam::Pose2d::vector ( ) const [inline]

Definition at line 80 of file Pose2d.h.

void isam::Pose2d::write ( std::ostream &  out) const [inline]

Definition at line 94 of file Pose2d.h.

double isam::Pose2d::x ( ) const [inline]

Definition at line 64 of file Pose2d.h.

double isam::Pose2d::y ( ) const [inline]

Definition at line 65 of file Pose2d.h.

Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  out,
const Pose2d p 
) [friend]

Definition at line 44 of file Pose2d.h.

Member Data Documentation

double isam::Pose2d::_t [private]

Definition at line 51 of file Pose2d.h.

double isam::Pose2d::_x [private]

Definition at line 49 of file Pose2d.h.

double isam::Pose2d::_y [private]

Definition at line 50 of file Pose2d.h.

const int isam::Pose2d::dim = 3 [static]

Definition at line 55 of file Pose2d.h.

const int isam::Pose2d::size = 3 [static]

Definition at line 56 of file Pose2d.h.

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

Author(s): Ji Zhang
autogenerated on Mon Jan 6 2014 11:16:09