teb_local_planner::VertexPose Class Reference

This class stores and wraps a SE2 pose (position and orientation) into a vertex that can be optimized via g2o. More...

#include <vertex_pose.h>

Inheritance diagram for teb_local_planner::VertexPose:
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## Public Member Functions

virtual void oplusImpl (const double *update)
Define the update increment . A simple addition for the position. The angle is first added to the previous estimated angle and afterwards normalized to the interval . More...

PoseSE2pose ()
Access the pose. More...

const PoseSE2pose () const

Eigen::Vector2d & position ()
Access the 2D position part. More...

const Eigen::Vector2d & position () const
Access the 2D position part (read-only) More...

Read an estimate from an input stream. First the x-coordinate followed by y and the yaw angle. More...

virtual void setToOriginImpl ()
Set the underlying estimate (2D vector) to zero. More...

double & theta ()
Access the orientation part (yaw angle) of the pose. More...

const double & theta () const
Access the orientation part (yaw angle) of the pose (read-only) More...

VertexPose (bool fixed=false)
Default constructor. More...

VertexPose (const PoseSE2 &pose, bool fixed=false)
Construct pose using a given PoseSE2. More...

VertexPose (const Eigen::Ref< const Eigen::Vector2d > &position, double theta, bool fixed=false)
Construct pose using a given 2D position vector and orientation. More...

VertexPose (double x, double y, double theta, bool fixed=false)
Construct pose using single components x, y, and the yaw angle. More...

virtual bool write (std::ostream &os) const
Write the estimate to an output stream First the x-coordinate followed by y and the yaw angle. More...

double & x ()
Access the x-coordinate the pose. More...

const double & x () const
Access the x-coordinate the pose (read-only) More...

double & y ()
Access the y-coordinate the pose. More...

const double & y () const
Access the y-coordinate the pose (read-only) More...

~VertexPose ()
Destructs the VertexPose. More...

## Detailed Description

This class stores and wraps a SE2 pose (position and orientation) into a vertex that can be optimized via g2o.

PoseSE2
VertexTimeDiff

Definition at line 63 of file vertex_pose.h.

## Constructor & Destructor Documentation

 teb_local_planner::VertexPose::VertexPose ( bool fixed = false )
inline

Default constructor.

Parameters
 fixed if true, this vertex is considered fixed during optimization [default: false]

Definition at line 71 of file vertex_pose.h.

 teb_local_planner::VertexPose::VertexPose ( const PoseSE2 & pose, bool fixed = false )
inline

Construct pose using a given PoseSE2.

Parameters
 pose PoseSE2 defining the pose [x, y, angle_rad] fixed if true, this vertex is considered fixed during optimization [default: false]

Definition at line 82 of file vertex_pose.h.

 teb_local_planner::VertexPose::VertexPose ( const Eigen::Ref< const Eigen::Vector2d > & position, double theta, bool fixed = false )
inline

Construct pose using a given 2D position vector and orientation.

Parameters
 position Eigen::Vector2d containing x and y coordinates theta yaw-angle fixed if true, this vertex is considered fixed during optimization [default: false]

Definition at line 94 of file vertex_pose.h.

 teb_local_planner::VertexPose::VertexPose ( double x, double y, double theta, bool fixed = false )
inline

Construct pose using single components x, y, and the yaw angle.

Parameters
 x x-coordinate y y-coordinate theta yaw angle in rad fixed if true, this vertex is considered fixed during optimization [default: false]

Definition at line 108 of file vertex_pose.h.

 teb_local_planner::VertexPose::~VertexPose ( )
inline

Destructs the VertexPose.

Definition at line 119 of file vertex_pose.h.

## Member Function Documentation

 virtual void teb_local_planner::VertexPose::oplusImpl ( const double * update )
inlinevirtual

Define the update increment . A simple addition for the position. The angle is first added to the previous estimated angle and afterwards normalized to the interval .

Parameters
 update increment that should be added to the previous esimate

Definition at line 200 of file vertex_pose.h.

 PoseSE2& teb_local_planner::VertexPose::pose ( )
inline

Access the pose.

estimate
Returns
reference to the PoseSE2 estimate

Definition at line 126 of file vertex_pose.h.

 const PoseSE2& teb_local_planner::VertexPose::pose ( ) const
inline

estimate
Returns
const reference to the PoseSE2 estimate

Definition at line 133 of file vertex_pose.h.

 Eigen::Vector2d& teb_local_planner::VertexPose::position ( )
inline

Access the 2D position part.

estimate
Returns
reference to the 2D position part

Definition at line 141 of file vertex_pose.h.

 const Eigen::Vector2d& teb_local_planner::VertexPose::position ( ) const
inline

Access the 2D position part (read-only)

estimate
Returns
const reference to the 2D position part

Definition at line 148 of file vertex_pose.h.

 virtual bool teb_local_planner::VertexPose::read ( std::istream & is )
inlinevirtual

Read an estimate from an input stream. First the x-coordinate followed by y and the yaw angle.

Parameters
 is input stream
Returns
always true

Definition at line 211 of file vertex_pose.h.

 virtual void teb_local_planner::VertexPose::setToOriginImpl ( )
inlinevirtual

Set the underlying estimate (2D vector) to zero.

Definition at line 189 of file vertex_pose.h.

 double& teb_local_planner::VertexPose::theta ( )
inline

Access the orientation part (yaw angle) of the pose.

Returns
reference to the yaw angle

Definition at line 178 of file vertex_pose.h.

 const double& teb_local_planner::VertexPose::theta ( ) const
inline

Access the orientation part (yaw angle) of the pose (read-only)

Returns
const reference to the yaw angle

Definition at line 184 of file vertex_pose.h.

 virtual bool teb_local_planner::VertexPose::write ( std::ostream & os ) const
inlinevirtual

Write the estimate to an output stream First the x-coordinate followed by y and the yaw angle.

Parameters
 os output stream
Returns
true if the export was successful, otherwise false

Definition at line 223 of file vertex_pose.h.

 double& teb_local_planner::VertexPose::x ( )
inline

Access the x-coordinate the pose.

Returns
reference to the x-coordinate

Definition at line 154 of file vertex_pose.h.

 const double& teb_local_planner::VertexPose::x ( ) const
inline

Access the x-coordinate the pose (read-only)

Returns
const reference to the x-coordinate

Definition at line 160 of file vertex_pose.h.

 double& teb_local_planner::VertexPose::y ( )
inline

Access the y-coordinate the pose.

Returns
reference to the y-coordinate

Definition at line 166 of file vertex_pose.h.

 const double& teb_local_planner::VertexPose::y ( ) const
inline

Access the y-coordinate the pose (read-only)

Returns
const reference to the y-coordinate

Definition at line 172 of file vertex_pose.h.

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

teb_local_planner
Author(s): Christoph RÃ¶smann
autogenerated on Wed Jun 3 2020 04:03:08