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

---

Detailed Description

Definition at line 43 of file Pose2d.h.

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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.

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Member Function Documentation

Pose2d isam::Pose2d::exmap

(

const Eigen::Vector3d &

delta

)

const [inline]

Definition at line 72 of file Pose2d.h.

Eigen::VectorXb isam::Pose2d::is_angle

(

)

const [inline]

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.

Parameters:

b	Base frame.

Returns:

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.

Parameters:

d	Pose difference to add.

Returns:

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.

Parameters:

p	Point to project

Returns:

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.

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Friends And Related Function Documentation

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

Definition at line 44 of file Pose2d.h.

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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.

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

• Pose2d.h