Typedefs | |
| typedef Eigen::Matrix< float, 6, 1 > | Odom2D |
| Float representation of 2D odometry (x, y, heading, v_x, v_y, w). | |
| typedef Eigen::Matrix< float, 6, Eigen::Dynamic > | Odom2DTrajectory |
| Float collection of 2D odometries (x, y, heading, v_x, v_y, w). | |
| typedef Eigen::Matrix2Xf | Path2D |
| Float representation of a path in 2D (x1,y1; x2,y2; ..; xn,yn). | |
| typedef Eigen::Vector3f | Pose2D |
| Float representation of a pose in 2D (x, y, heading). | |
| typedef Eigen::Vector2f | Position2D |
| Float representation for a 2D position (x-, y-position). | |
| typedef Eigen::Matrix3Xf | Trajectory2D |
| Float representation of a trajectory in 2D (poses in 2D). | |
| typedef Eigen::Vector3f | Twist2D |
| Float representation of velocities in 2D (v_x, v_y, w). | |
| typedef Eigen::Matrix3Xf | Twist2DVector |
| Float collection of 2D twists (twist: v_x, v_y, w). | |
Functions | |
| ecl_geometry_PUBLIC void | addAtEnd (Trajectory2D &target, const Trajectory2D &addition) |
| Concat two odometry trajectories. | |
| ecl_geometry_PUBLIC void | addAtEnd (Odom2DTrajectory &target, const Odom2DTrajectory &addition) |
| ecl_geometry_PUBLIC double | distance (const Pose2D &pose, const Trajectory2D &trajectory) |
| Shortest distance between a pose and a trajectory. | |
| ecl_geometry_PUBLIC double | distance (const Position2D &position, const Trajectory2D &trajectory) |
| Shortest distance between a position and a trajectory. | |
| ecl_geometry_PUBLIC double | distance (const Odom2D &a, const Odom2D &b) |
| Distance between the positions of odometries. | |
| ecl_geometry_PUBLIC double | distance (const Pose2D &a, const Pose2D &b) |
| Distance between poses. | |
| ecl_geometry_PUBLIC double | distance (const Pose2D &a, const Odom2D &b) |
| Distance between a pose and the position of a odometry. | |
| ecl_geometry_PUBLIC double | distanceSqared (const Odom2D &a, const Odom2D &b) |
| Squared distance between the positions of odometries. | |
| ecl_geometry_PUBLIC double | distanceSqared (const Pose2D &a, const Pose2D &b) |
| Squared distance between poses. | |
| ecl_geometry_PUBLIC bool | empty (const Trajectory2D &trajectory) |
| Check if trajectory ptr is empty (ptr not set or has no poses) | |
| ecl_geometry_PUBLIC bool | empty (const Odom2DTrajectory &trajectory) |
| Check if trajectory ptr is empty (ptr not set or has no odometries) | |
| ecl_geometry_PUBLIC Pose2D | getAt (const Trajectory2D &trajectory, const int &index) |
| Get element of trajectory. | |
| ecl_geometry_PUBLIC Odom2D | getAt (const Odom2DTrajectory &trajectory, const int &index) |
| Get element of trajectory. | |
| ecl_geometry_PUBLIC Pose2D | getBack (const Trajectory2D &trajectory) |
| Get back (last) element of trajectory. | |
| ecl_geometry_PUBLIC Odom2D | getBack (const Odom2DTrajectory &trajectory) |
| Get back (last) element of trajectory. | |
| ecl_geometry_PUBLIC Pose2D | getFront (const Trajectory2D &trajectory) |
| Get front (first) element of trajectory. | |
| ecl_geometry_PUBLIC Odom2D | getFront (const Odom2DTrajectory &trajectory) |
| Get front (first) element of trajectory. | |
| ecl_geometry_PUBLIC Pose2D | getPose (const Odom2D &odom) |
| Extract pose from odometry. | |
| ecl_geometry_PUBLIC Trajectory2D | getPoses (const Odom2DTrajectory &trajectory) |
| Extract poses of odom trajectory. | |
| ecl_geometry_PUBLIC Position2D | getPosition (const Odom2D &odom) |
| Extract position from odometry. | |
| ecl_geometry_PUBLIC Position2D | getPosition (const Pose2D &pose) |
| Extract position from pose. | |
| ecl_geometry_PUBLIC Twist2D | getTwist (const Odom2D &odom) |
| Extract twist from odometry. | |
| ecl_geometry_PUBLIC Twist2DVector | getTwists (const Odom2DTrajectory &trajectory) |
| Extract twists of odom trajectory. | |
| ecl_geometry_PUBLIC float | getVelocityAngular (const Odom2D &odom) |
| Get angular velocity. | |
| ecl_geometry_PUBLIC float | getVelocityAngular (const Twist2D &twist) |
| Get angular velocity. | |
| ecl_geometry_PUBLIC float | getVelocityX (const Odom2D &odom) |
| Get linear velocity x direction. | |
| ecl_geometry_PUBLIC float | getVelocityX (const Twist2D &twist) |
| Get linear velocity x direction. | |
| ecl_geometry_PUBLIC float | getVelocityY (const Odom2D &odom) |
| Get linear velocity y direction. | |
| ecl_geometry_PUBLIC float | getVelocityY (const Twist2D &twist) |
| Get linear velocity y direction. | |
| ecl_geometry_PUBLIC float | getX (const Odom2D &odom) |
| Get x position. | |
| ecl_geometry_PUBLIC float | getX (const Pose2D &pose) |
| Get x position. | |
| ecl_geometry_PUBLIC float | getX (const Position2D &position) |
| Get x position. | |
| ecl_geometry_PUBLIC float | getY (const Odom2D &odom) |
| Get y position. | |
| ecl_geometry_PUBLIC float | getY (const Pose2D &pose) |
| Get y position. | |
| ecl_geometry_PUBLIC float | getY (const Position2D &position) |
| Get y position. | |
| ecl_geometry_PUBLIC float | getYaw (const Odom2D &odom) |
| Get yaw (heading) | |
| ecl_geometry_PUBLIC float | getYaw (const Pose2D &pose) |
| Get yaw (heading) | |
| ecl_geometry_PUBLIC void | resize (Trajectory2D &trajectory, const int &size) |
| Resizes trajectory appending uninitialised values if needed. | |
| ecl_geometry_PUBLIC void | resize (Odom2DTrajectory &trajectory, const int &size) |
| ecl_geometry_PUBLIC void | setAt (Trajectory2D &trajectory, const int &index, const Pose2D &pose) |
| Set element at index of trajectory. | |
| ecl_geometry_PUBLIC void | setAt (Odom2DTrajectory &trajectory, const int &index, const Odom2D &odom) |
| Set element at index of trajectory. | |
| ecl_geometry_PUBLIC void | setVelocityAngular (Odom2D &odom, const float &value) |
| Set angular velocity. | |
| ecl_geometry_PUBLIC void | setVelocityAngular (Twist2D &twist, const float &value) |
| Set angular velocity. | |
| ecl_geometry_PUBLIC void | setVelocityX (Odom2D &odom, const float &value) |
| Set linear velocity x direction. | |
| ecl_geometry_PUBLIC void | setVelocityX (Twist2D &twist, const float &value) |
| Set linear velocity x direction. | |
| ecl_geometry_PUBLIC void | setVelocityY (Odom2D &odom, const float &value) |
| Set linear velocity y direction. | |
| ecl_geometry_PUBLIC void | setVelocityY (Twist2D &twist, const float &value) |
| Set linear velocity y direction. | |
| ecl_geometry_PUBLIC void | setX (Odom2D &odom, const float &value) |
| Set x position. | |
| ecl_geometry_PUBLIC void | setX (Pose2D &pose, const float &value) |
| Set x position. | |
| ecl_geometry_PUBLIC void | setX (Position2D &position, const float &value) |
| Set x position. | |
| ecl_geometry_PUBLIC void | setY (Odom2D &odom, const float &value) |
| Set y position. | |
| ecl_geometry_PUBLIC void | setY (Pose2D &pose, const float &value) |
| Set y position. | |
| ecl_geometry_PUBLIC void | setY (Position2D &position, const float &value) |
| Set y position. | |
| ecl_geometry_PUBLIC void | setYaw (Odom2D &odom, const float &value) |
| Set yaw (heading) | |
| ecl_geometry_PUBLIC void | setYaw (Pose2D &pose, const float &value) |
| Set yaw (heading) | |
| ecl_geometry_PUBLIC int | size (const Trajectory2D &trajectory) |
| Get the size of the trajectory. | |
| ecl_geometry_PUBLIC int | size (const Odom2DTrajectory &trajectory) |
| Get the size of the trajectory. | |
| ecl_geometry_PUBLIC Trajectory2D | vectorToTrajectory (const std::vector< Pose2D > &vec) |
| Convert vector of Pose2D to Trajectory2D. | |
| ecl_geometry_PUBLIC Odom2DTrajectory | vectorToTrajectory (const std::vector< Odom2D > &vec) |
| Convert vector of Odom2D to Odom2DTrajectory. | |
| typedef Eigen::Matrix<float, 6, 1> ecl::odometry::Odom2D |
Float representation of 2D odometry (x, y, heading, v_x, v_y, w).
Represents a pose (x, y, heading) and the twist (linear velocities, angular velocities) of an object in a 2D plane, e.g. a mobile robot.
Uses a 6x1 Eigen vector where the upper half is the pose and the lower half the twist.
Definition at line 90 of file odometry_typedefs.hpp.
| typedef Eigen::Matrix<float, 6, Eigen::Dynamic> ecl::odometry::Odom2DTrajectory |
Float collection of 2D odometries (x, y, heading, v_x, v_y, w).
Represents a collection of poses (x, y, heading) together with linear and angular velocities in 2D (=twists).
Uses a 6xn Eigen matrix where each column is one odometry with the upper half being the pose and the lower half the twist.
Definition at line 101 of file odometry_typedefs.hpp.
| typedef Eigen::Matrix2Xf ecl::odometry::Path2D |
Float representation of a path in 2D (x1,y1; x2,y2; ..; xn,yn).
Represents a path in 2D of 2D points (no heading / orientation. Uses a 2xn Eigen matrix where each colum is one point of the path.
Definition at line 46 of file odometry_typedefs.hpp.
| typedef Eigen::Vector3f ecl::odometry::Pose2D |
Float representation of a pose in 2D (x, y, heading).
Represents a pose in 2D (2D position + heading). Uses a 3x1 Eigen vector.
Definition at line 54 of file odometry_typedefs.hpp.
| typedef Eigen::Vector2f ecl::odometry::Position2D |
Float representation for a 2D position (x-, y-position).
Represents a point in 2D. Uses a 2x1 Eigen vector.
Definition at line 38 of file odometry_typedefs.hpp.
| typedef Eigen::Matrix3Xf ecl::odometry::Trajectory2D |
Float representation of a trajectory in 2D (poses in 2D).
Represents a trajectory in 2D of 2D poses (x, y, heading). Uses a 3xn Eigen matrix where each column is one pose of the trajectory.
Definition at line 62 of file odometry_typedefs.hpp.
| typedef Eigen::Vector3f ecl::odometry::Twist2D |
Float representation of velocities in 2D (v_x, v_y, w).
Represents a twist in 2D with the linear velocities in x- and y-direction (v_x, v_y) and the angular velocity (w). Uses a 3x1 Eigen vector.
Definition at line 71 of file odometry_typedefs.hpp.
| typedef Eigen::Matrix3Xf ecl::odometry::Twist2DVector |
Float collection of 2D twists (twist: v_x, v_y, w).
Represents a collection of linear and angular velocities in 2D (=twists). Uses a 3xn Eigen matrix where each column is one twist.
Definition at line 79 of file odometry_typedefs.hpp.
| void ecl::odometry::addAtEnd | ( | Trajectory2D & | target, |
| const Trajectory2D & | addition | ||
| ) |
Concat two odometry trajectories.
Adds a trajectory to the end of another trajectory. Shouldn't be used for frequent adding because of bad performance.
Definition at line 103 of file lib/odometry_helper.cpp.
| void ecl::odometry::addAtEnd | ( | Odom2DTrajectory & | target, |
| const Odom2DTrajectory & | addition | ||
| ) |
Definition at line 114 of file lib/odometry_helper.cpp.
| double ecl::odometry::distance | ( | const Pose2D & | pose, |
| const Trajectory2D & | trajectory | ||
| ) |
Shortest distance between a pose and a trajectory.
This uses straight lines between the trajectory poses to calculate the distance to the pose
Definition at line 23 of file lib/odometry_helper.cpp.
| double ecl::odometry::distance | ( | const Position2D & | position, |
| const Trajectory2D & | trajectory | ||
| ) |
Shortest distance between a position and a trajectory.
This uses straight lines between the trajectory poses to calculate the distance to the pose
Definition at line 28 of file lib/odometry_helper.cpp.
| double ecl::odometry::distance | ( | const Odom2D & | a, |
| const Odom2D & | b | ||
| ) |
Distance between the positions of odometries.
Definition at line 78 of file lib/odometry_helper.cpp.
| double ecl::odometry::distance | ( | const Pose2D & | a, |
| const Pose2D & | b | ||
| ) |
Distance between poses.
Definition at line 88 of file lib/odometry_helper.cpp.
| double ecl::odometry::distance | ( | const Pose2D & | a, |
| const Odom2D & | b | ||
| ) |
Distance between a pose and the position of a odometry.
Definition at line 83 of file lib/odometry_helper.cpp.
| double ecl::odometry::distanceSqared | ( | const Odom2D & | a, |
| const Odom2D & | b | ||
| ) |
Squared distance between the positions of odometries.
Definition at line 93 of file lib/odometry_helper.cpp.
| double ecl::odometry::distanceSqared | ( | const Pose2D & | a, |
| const Pose2D & | b | ||
| ) |
Squared distance between poses.
Concat two trajectories
Adds a trajectory to the end of another trajectory. Shouldn't be used for frequent adding because of bad performance.
Definition at line 98 of file lib/odometry_helper.cpp.
| bool ecl::odometry::empty | ( | const Trajectory2D & | trajectory | ) |
Check if trajectory ptr is empty (ptr not set or has no poses)
Definition at line 58 of file lib/odometry_helper.cpp.
| bool ecl::odometry::empty | ( | const Odom2DTrajectory & | trajectory | ) |
Check if trajectory ptr is empty (ptr not set or has no odometries)
Definition at line 63 of file lib/odometry_helper.cpp.
| Pose2D ecl::odometry::getAt | ( | const Trajectory2D & | trajectory, |
| const int & | index | ||
| ) |
Get element of trajectory.
Definition at line 171 of file lib/odometry_helper.cpp.
| Odom2D ecl::odometry::getAt | ( | const Odom2DTrajectory & | trajectory, |
| const int & | index | ||
| ) |
Get element of trajectory.
Definition at line 176 of file lib/odometry_helper.cpp.
| Pose2D ecl::odometry::getBack | ( | const Trajectory2D & | trajectory | ) |
Get back (last) element of trajectory.
Definition at line 186 of file lib/odometry_helper.cpp.
| Odom2D ecl::odometry::getBack | ( | const Odom2DTrajectory & | trajectory | ) |
Get back (last) element of trajectory.
Definition at line 196 of file lib/odometry_helper.cpp.
| Pose2D ecl::odometry::getFront | ( | const Trajectory2D & | trajectory | ) |
Get front (first) element of trajectory.
Definition at line 181 of file lib/odometry_helper.cpp.
| Odom2D ecl::odometry::getFront | ( | const Odom2DTrajectory & | trajectory | ) |
Get front (first) element of trajectory.
Definition at line 191 of file lib/odometry_helper.cpp.
| Pose2D ecl::odometry::getPose | ( | const Odom2D & | odom | ) |
Extract pose from odometry.
Definition at line 329 of file lib/odometry_helper.cpp.
| Trajectory2D ecl::odometry::getPoses | ( | const Odom2DTrajectory & | trajectory | ) |
Extract poses of odom trajectory.
Definition at line 201 of file lib/odometry_helper.cpp.
| Position2D ecl::odometry::getPosition | ( | const Odom2D & | odom | ) |
Extract position from odometry.
Definition at line 324 of file lib/odometry_helper.cpp.
| Position2D ecl::odometry::getPosition | ( | const Pose2D & | pose | ) |
Extract position from pose.
Definition at line 354 of file lib/odometry_helper.cpp.
| Twist2D ecl::odometry::getTwist | ( | const Odom2D & | odom | ) |
Extract twist from odometry.
Definition at line 334 of file lib/odometry_helper.cpp.
| Twist2DVector ecl::odometry::getTwists | ( | const Odom2DTrajectory & | trajectory | ) |
Extract twists of odom trajectory.
Definition at line 206 of file lib/odometry_helper.cpp.
| float ecl::odometry::getVelocityAngular | ( | const Odom2D & | odom | ) |
Get angular velocity.
Definition at line 291 of file lib/odometry_helper.cpp.
| float ecl::odometry::getVelocityAngular | ( | const Twist2D & | twist | ) |
Get angular velocity.
Definition at line 306 of file lib/odometry_helper.cpp.
| float ecl::odometry::getVelocityX | ( | const Odom2D & | odom | ) |
Get linear velocity x direction.
Definition at line 281 of file lib/odometry_helper.cpp.
| float ecl::odometry::getVelocityX | ( | const Twist2D & | twist | ) |
Get linear velocity x direction.
Definition at line 296 of file lib/odometry_helper.cpp.
| float ecl::odometry::getVelocityY | ( | const Odom2D & | odom | ) |
Get linear velocity y direction.
Definition at line 286 of file lib/odometry_helper.cpp.
| float ecl::odometry::getVelocityY | ( | const Twist2D & | twist | ) |
Get linear velocity y direction.
Definition at line 301 of file lib/odometry_helper.cpp.
| float ecl::odometry::getX | ( | const Odom2D & | odom | ) |
Get x position.
Definition at line 311 of file lib/odometry_helper.cpp.
| float ecl::odometry::getX | ( | const Pose2D & | pose | ) |
Get x position.
Definition at line 339 of file lib/odometry_helper.cpp.
| float ecl::odometry::getX | ( | const Position2D & | position | ) |
Get x position.
Definition at line 359 of file lib/odometry_helper.cpp.
| float ecl::odometry::getY | ( | const Odom2D & | odom | ) |
Get y position.
Definition at line 315 of file lib/odometry_helper.cpp.
| float ecl::odometry::getY | ( | const Pose2D & | pose | ) |
Get y position.
Definition at line 344 of file lib/odometry_helper.cpp.
| float ecl::odometry::getY | ( | const Position2D & | position | ) |
Get y position.
Definition at line 364 of file lib/odometry_helper.cpp.
| float ecl::odometry::getYaw | ( | const Odom2D & | odom | ) |
Get yaw (heading)
Definition at line 319 of file lib/odometry_helper.cpp.
| float ecl::odometry::getYaw | ( | const Pose2D & | pose | ) |
Get yaw (heading)
Definition at line 349 of file lib/odometry_helper.cpp.
| void ecl::odometry::resize | ( | Trajectory2D & | trajectory, |
| const int & | size | ||
| ) |
Resizes trajectory appending uninitialised values if needed.
This is conservative, meaning elements in the trajectory don't change. (Opposed to the default Eigen resize)
Definition at line 151 of file lib/odometry_helper.cpp.
| void ecl::odometry::resize | ( | Odom2DTrajectory & | trajectory, |
| const int & | size | ||
| ) |
Definition at line 156 of file lib/odometry_helper.cpp.
| void ecl::odometry::setAt | ( | Trajectory2D & | trajectory, |
| const int & | index, | ||
| const Pose2D & | pose | ||
| ) |
Set element at index of trajectory.
Definition at line 161 of file lib/odometry_helper.cpp.
| void ecl::odometry::setAt | ( | Odom2DTrajectory & | trajectory, |
| const int & | index, | ||
| const Odom2D & | odom | ||
| ) |
Set element at index of trajectory.
Definition at line 166 of file lib/odometry_helper.cpp.
| void ecl::odometry::setVelocityAngular | ( | Odom2D & | odom, |
| const float & | value | ||
| ) |
Set angular velocity.
Definition at line 221 of file lib/odometry_helper.cpp.
| void ecl::odometry::setVelocityAngular | ( | Twist2D & | twist, |
| const float & | value | ||
| ) |
Set angular velocity.
Definition at line 236 of file lib/odometry_helper.cpp.
| void ecl::odometry::setVelocityX | ( | Odom2D & | odom, |
| const float & | value | ||
| ) |
Set linear velocity x direction.
Definition at line 211 of file lib/odometry_helper.cpp.
| void ecl::odometry::setVelocityX | ( | Twist2D & | twist, |
| const float & | value | ||
| ) |
Set linear velocity x direction.
Definition at line 226 of file lib/odometry_helper.cpp.
| void ecl::odometry::setVelocityY | ( | Odom2D & | odom, |
| const float & | value | ||
| ) |
Set linear velocity y direction.
Definition at line 216 of file lib/odometry_helper.cpp.
| void ecl::odometry::setVelocityY | ( | Twist2D & | twist, |
| const float & | value | ||
| ) |
Set linear velocity y direction.
Definition at line 231 of file lib/odometry_helper.cpp.
| void ecl::odometry::setX | ( | Odom2D & | odom, |
| const float & | value | ||
| ) |
Set x position.
Definition at line 241 of file lib/odometry_helper.cpp.
| void ecl::odometry::setX | ( | Pose2D & | pose, |
| const float & | value | ||
| ) |
Set x position.
Definition at line 256 of file lib/odometry_helper.cpp.
| void ecl::odometry::setX | ( | Position2D & | position, |
| const float & | value | ||
| ) |
Set x position.
Definition at line 271 of file lib/odometry_helper.cpp.
| void ecl::odometry::setY | ( | Odom2D & | odom, |
| const float & | value | ||
| ) |
Set y position.
Definition at line 246 of file lib/odometry_helper.cpp.
| void ecl::odometry::setY | ( | Pose2D & | pose, |
| const float & | value | ||
| ) |
Set y position.
Definition at line 261 of file lib/odometry_helper.cpp.
| void ecl::odometry::setY | ( | Position2D & | position, |
| const float & | value | ||
| ) |
Set y position.
Definition at line 276 of file lib/odometry_helper.cpp.
| void ecl::odometry::setYaw | ( | Odom2D & | odom, |
| const float & | value | ||
| ) |
Set yaw (heading)
Definition at line 251 of file lib/odometry_helper.cpp.
| void ecl::odometry::setYaw | ( | Pose2D & | pose, |
| const float & | value | ||
| ) |
Set yaw (heading)
Definition at line 266 of file lib/odometry_helper.cpp.
| int ecl::odometry::size | ( | const Trajectory2D & | trajectory | ) |
Get the size of the trajectory.
Definition at line 68 of file lib/odometry_helper.cpp.
| int ecl::odometry::size | ( | const Odom2DTrajectory & | trajectory | ) |
Get the size of the trajectory.
Definition at line 73 of file lib/odometry_helper.cpp.
| Trajectory2D ecl::odometry::vectorToTrajectory | ( | const std::vector< Pose2D > & | vec | ) |
Convert vector of Pose2D to Trajectory2D.
Definition at line 125 of file lib/odometry_helper.cpp.
| Odom2DTrajectory ecl::odometry::vectorToTrajectory | ( | const std::vector< Odom2D > & | vec | ) |
Convert vector of Odom2D to Odom2DTrajectory.
Resizes trajectory appending uninitialised values if needed
This is conservative, meaning elements in the trajectory don't change. (Opposed to the default Eigen resize)
Definition at line 138 of file lib/odometry_helper.cpp.