Representation for a 2D pose (3 degrees of freedom). More...

#include <pose2d.hpp>

Public Types
typedef geometry::Pose2DMath< Float, RotationAngleStorage >	RotationAngleMath
	Rotational math specific to rotational angles. More...

typedef geometry::Pose2DMath< Float, Storage >	RotationMath
	Rotational math specific to this storage type. More...

typedef ecl::linear_algebra::Matrix< Float, 2, 2 >	RotationMatrix
	The type used to represent rotation matrices. More...

typedef geometry::Pose2DMath< Float, RotationMatrixStorage >	RotationMatrixMath
	Rotational math specific to rotational matrices. More...

typedef ecl_traits< Pose2D< Float, Storage, typename enable_if< is_float< Float > >::type > >::RotationType	RotationType
	The type used for storage of the rotation/angle. More...

typedef ecl::linear_algebra::Matrix< Float, 2, 1 >	Translation
	The type used to represent translations. More...

Public Member Functions
void	heading (const Angle< Float > &value)
	Sets the heading. More...

Angle< Float >	heading () const
	Get the heading. More...

Pose2D< Float, Storage >	inverse () const
	Calculate the inverse pose. More...

template<enum Pose2DStorageType Storage_>
Pose2D< Float, Storage >	operator* (const Pose2D< Float, Storage_ > &pose) const
	Combine this pose with the incoming pose. More...

Pose2D< Float > &	operator*= (const Pose2D< Float > &pose)
	Transform this pose by the specified input pose. More...

template<enum Pose2DStorageType Storage_>
Pose2D< Float, Storage > &	operator= (const Pose2D< Float, Storage_ > &pose)
	Assign from another Pose2D instance. More...

	Pose2D ()
	Default constructor. More...

	Pose2D (const Float &x, const Float &y, const Angle< Float > &angle)
	Construct the pose using scalars for position and rotation angle. More...

template<typename Rot , typename Trans >
	Pose2D (const ecl::linear_algebra::MatrixBase< Rot > &R, const ecl::linear_algebra::MatrixBase< Trans > &T)
	Construct the pose using a rotation matrix and a translation vector. More...

template<typename Trans >
	Pose2D (const Angle< Float > &angle, const ecl::linear_algebra::MatrixBase< Trans > &T)
	Construct the pose using a rotational angle and a translation vector. More...

template<enum Pose2DStorageType Storage_>
	Pose2D (const Pose2D< Float, Storage_ > &pose)
	Copy constructor that works for copies from any pose type. More...

template<enum Pose2DStorageType Storage_>
Pose2D< Float, Storage >	relative (const Pose2D< Float, Storage_ > &pose) const
	Relative pose between this pose and another. More...

void	rotation (const Angle< Float > &heading)
	Set the rotational component with a heading angle. More...

void	rotation (const RotationMatrix &rotation_matrix)
	Set the rotational component with a rotation matrix. More...

RotationType &	rotation ()

const RotationType &	rotation () const
	Return a mutable handle to the translation vector. More...

template<typename Rot >
void	rotationMatrix (const ecl::linear_algebra::MatrixBase< Rot > &rotation_matrix)
	Set the rotational component. More...

RotationMatrix	rotationMatrix () const

void	setIdentity ()
	Set this pose to zero rotation and zero translation. More...

void	setPose (const Float &x, const Float &y, const Angle< Float > &heading)
	Sets the pose with a triplet. More...

void	translation (const Float &x, const Float &y)
	Set the translation vector from a pair of x,y values. More...

template<typename Trans >
void	translation (const ecl::linear_algebra::MatrixBase< Trans > &T)
	Set the translation vector. More...

Translation &	translation ()
	Return a mutable handle to the rotational storage component. More...

const Translation &	translation () const
	Return a const handle to the rotational storage component. More...

void	x (const Float &value)
	Sets the x-coordinate. More...

Float	x () const
	Return a const handle to the translation vector. More...

void	y (const Float &value)
	Sets the y-coordinate. More...

Float	y () const
	Get the y-coordinate. More...

virtual	~Pose2D ()

Static Public Member Functions
static Pose2D< Float, Storage >	Identity ()
	Static function for returning the idenitity pose, eigen style. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Float	Scalar
	Eigen style declaration of the element type. More...

Private Attributes
RotationType	rot

Translation	trans

Friends
template<typename OutputStream , typename Float_ , enum Pose2DStorageType Storage_>
OutputStream &	operator<< (OutputStream &ostream, const Pose2D< Float_, Storage_ > &pose)
	Insertion operator for output streams. More...

Detailed Description

template<typename Float, enum Pose2DStorageType Storage>
class ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >

Representation for a 2D pose (3 degrees of freedom).

This represents a transformation typical of that of an object in 2D, e.g. a mobile robot on a horizontal plane. There are two storage types for this object, the default is rotation matrix, but scalar angular storage can be selected by supplying a second template parameter to the type:

Pose2D<double,RotationAngleStorage>

Template Parameters

Float	: must be a float type (e.g. float, double, float32, float64)
Storage	: type of storage (RotationMatrixStorage, RotationAngleStorage).

Definition at line 169 of file pose2d.hpp.

Member Typedef Documentation

template<typename Float , enum Pose2DStorageType Storage>

typedef geometry::Pose2DMath<Float,RotationAngleStorage> ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::RotationAngleMath

Rotational math specific to rotational angles.

Definition at line 182 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

typedef geometry::Pose2DMath<Float,Storage> ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::RotationMath

Rotational math specific to this storage type.

Definition at line 180 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

typedef ecl::linear_algebra::Matrix<Float,2,2> ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::RotationMatrix

The type used to represent rotation matrices.

Definition at line 184 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

typedef geometry::Pose2DMath<Float,RotationMatrixStorage> ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::RotationMatrixMath

Rotational math specific to rotational matrices.

Definition at line 181 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

typedef ecl_traits< Pose2D<Float,Storage,typename enable_if<is_float<Float> >::type> >::RotationType ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::RotationType

The type used for storage of the rotation/angle.

Definition at line 183 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

typedef ecl::linear_algebra::Matrix<Float,2,1> ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::Translation

The type used to represent translations.

Definition at line 185 of file pose2d.hpp.

Constructor & Destructor Documentation

template<typename Float , enum Pose2DStorageType Storage>

ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::Pose2D ( )

inline

Default constructor.

Initialises the pose with zero rotation and zero translation. Might be worth dropping the setting here (aka eigen style) if we need speed, not safety. If we do so, maybe a debug mode is_initialised flag? Also, if we do so make sure to update the Identity static function.

Definition at line 198 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::Pose2D	(	const Float &	x,
		const Float &	y,
		const Angle< Float > &	angle
	)

inline

Construct the pose using scalars for position and rotation angle.

Parameters

x,y	: position (origin) of the target frame
angle	: initial heading angle (double is compatible)(radians).

Definition at line 206 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

template<typename Rot , typename Trans >

ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::Pose2D	(	const ecl::linear_algebra::MatrixBase< Rot > &	R,
		const ecl::linear_algebra::MatrixBase< Trans > &	T
	)

inline

Construct the pose using a rotation matrix and a translation vector.

This accepts arbitrary eigen types to use as a rotation matrix and translation vector.

Parameters

R	: 2x2 rotation matrix.
T	: 2x1 translation vector (will compile error if incorrect size).

Template Parameters

Rot	: any compatible eigen 2x2 matrix type (e.g. Matrix<Float,2,2>).
Trans	: any compatible eigen 2x1 matrix type (e.g. Matrix<Float,2,1>).

Definition at line 223 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

template<typename Trans >

ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::Pose2D	(	const Angle< Float > &	angle,
		const ecl::linear_algebra::MatrixBase< Trans > &	T
	)

inline

Construct the pose using a rotational angle and a translation vector.

This accepts an angle (or its Float equivalent) and an arbitrary eigen type to use as a translation vector.

Parameters

angle	: initial heading angle (double is compatible)(radians).
T	: 2x1 translation vector (will compile error if incorrect size).

Template Parameters

Trans : any compatible eigen 2x1 matrix type (e.g. Matrix<Float,2,1>).

Definition at line 238 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

template<enum Pose2DStorageType Storage_>

ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::Pose2D ( const Pose2D< Float, Storage_ > & pose )

inline

Copy constructor that works for copies from any pose type.

This works regardless of whatever storage the incoming pose is in.

Parameters

pose	: the pose to copy.

Definition at line 250 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

virtual ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::~Pose2D ( )

inlinevirtual

Definition at line 255 of file pose2d.hpp.

Member Function Documentation

template<typename Float , enum Pose2DStorageType Storage>

void ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::heading ( const Angle< Float > & value )

inline

Sets the heading.

Definition at line 345 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

Angle<Float> ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::heading ( ) const

inline

Get the heading.

Definition at line 374 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

static Pose2D<Float,Storage> ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::Identity ( )

inlinestatic

Static function for returning the idenitity pose, eigen style.

Returns: Pose2D<Float,Storage> : the zero rotation, zero translation pose.

Definition at line 335 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

Pose2D<Float,Storage> ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::inverse ( ) const

inline

Calculate the inverse pose.

This calculates the reverse transformation between frames.

Returns: Pose2D : the inverse pose with target and reference frames swapped.

Definition at line 387 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

template<enum Pose2DStorageType Storage_>

Pose2D<Float,Storage> ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::operator* ( const Pose2D< Float, Storage_ > & pose ) const

inline

Combine this pose with the incoming pose.

Parameters

pose	: differential (wrt this pose's frame).

Returns: Pose2D<Float> : new instance representing the product of the poses.

Definition at line 400 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

Pose2D<Float>& ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::operator*= ( const Pose2D< Float > & pose )

inline

Transform this pose by the specified input pose.

Parameters

pose	: a pose differential (wrt this pose's frame).

Returns: Pose2D<Float>& : handle to the updated pose (wrt common/global frame).

Definition at line 408 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

template<enum Pose2DStorageType Storage_>

Pose2D<Float,Storage>& ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::operator= ( const Pose2D< Float, Storage_ > & pose )

inline

Assign from another Pose2D instance.

Parameters

pose	: another pose2D, storage type is irrelevant.

Returns: Pose2D<Float>& : reference handle to this object.

Definition at line 266 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

template<enum Pose2DStorageType Storage_>

Pose2D<Float,Storage> ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::relative ( const Pose2D< Float, Storage_ > & pose ) const

inline

Relative pose between this pose and another.

Evaluates and returns the pose of this pose, relative to the specified pose.

Pose2D<double> a(1.0,1.0,1.57), b(1.0,2.0,3.14);
Pose2D<double> brela = b.relative(a);
std::cout << brela << std::endl; // [1.0, 0.0, 1.57]

Parameters

pose	: reference frame for the relative pose.

Returns: Pose2D<Float> : new instance representing the relative.

Definition at line 428 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

void ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::rotation ( const Angle< Float > & heading )

inline

Set the rotational component with a heading angle.

This accepts an input heading angle to configure the internal rotational storage.

Parameters

heading : configure the rotation from an input heading angle.

Definition at line 283 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

void ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::rotation ( const RotationMatrix & rotation_matrix )

inline

Set the rotational component with a rotation matrix.

This accepts an input rotation matrix to configure the internal rotational storage.

Parameters

rotation_matrix : input to copy across to the internal rotational storage.

Definition at line 294 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

RotationType& ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::rotation ( )

inline

Definition at line 364 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

const RotationType& ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::rotation ( ) const

inline

Return a mutable handle to the translation vector.

>

Definition at line 366 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

template<typename Rot >

void ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::rotationMatrix ( const ecl::linear_algebra::MatrixBase< Rot > & rotation_matrix )

inline

Set the rotational component.

This accepts arbitrary eigen types to use as a rotation matrix. Eigen will emit the appropriate compile time error if it is incompatible.

Parameters

rotation_matrix : 2x2 rotation matrix.

Template Parameters

Rot	: any compatible eigen 2x2 matrix type (e.g. Matrix<Float,2,2>).

Definition at line 357 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

RotationMatrix ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::rotationMatrix ( ) const

inline

Representation of the rotation in matrix form.

Definition at line 375 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

void ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::setIdentity ( )

inline

Set this pose to zero rotation and zero translation.

Definition at line 325 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

void ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::setPose	(	const Float &	x,
		const Float &	y,
		const Angle< Float > &	heading
	)

inline

Sets the pose with a triplet.

Definition at line 342 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

void ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::translation	(	const Float &	x,
		const Float &	y
	)

inline

Set the translation vector from a pair of x,y values.

This accepts x, y values to set the pose translation.

Parameters

x	: x translation.
y	: y translation.

Definition at line 305 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

template<typename Trans >

void ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::translation ( const ecl::linear_algebra::MatrixBase< Trans > & T )

inline

Set the translation vector.

This accepts an arbitrary eigen types to use as a translation vector. Eigen will emit the appropriate compile time error if it is incompatible.

Parameters

T	: 2x1 translation vector.

Template Parameters

Trans : any compatible eigen 2x1 matrix type (e.g. Matrix<Float,2,1>).

Definition at line 318 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

Translation& ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::translation ( )

inline

Return a mutable handle to the rotational storage component.

>

Definition at line 365 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

const Translation& ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::translation ( ) const

inline

Return a const handle to the rotational storage component.

>

Definition at line 367 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

void ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::x ( const Float & value )

inline

Sets the x-coordinate.

Definition at line 343 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

Float ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::x ( ) const

inline

Return a const handle to the translation vector.

>Get the x-coordinate.

Definition at line 372 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

void ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::y ( const Float & value )

inline

Sets the y-coordinate.

Definition at line 344 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

Float ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::y ( ) const

inline

Get the y-coordinate.

Definition at line 373 of file pose2d.hpp.

Friends And Related Function Documentation

template<typename Float , enum Pose2DStorageType Storage>

template<typename OutputStream , typename Float_ , enum Pose2DStorageType Storage_>

OutputStream& operator<<	(	OutputStream &	ostream,
		const Pose2D< Float_, Storage_ > &	pose
	)

friend

Insertion operator for output streams.

Note that the output heading angle is formatted in degrees.

Parameters

ostream	: stream satisfying the ecl stream concept.
pose	: the inserted pose.

Returns: OutputStream : the returning stream handle.

Definition at line 456 of file pose2d.hpp.

Member Data Documentation

template<typename Float , enum Pose2DStorageType Storage>

RotationType ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::rot

private

Definition at line 439 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Float ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::Scalar

Eigen style declaration of the element type.

Definition at line 179 of file pose2d.hpp.

template<typename Float , enum Pose2DStorageType Storage>

Translation ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >::trans

private

Definition at line 440 of file pose2d.hpp.

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

pose2d.hpp

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Private Attributes

Friends

Detailed Description

template<typename Float, enum Pose2DStorageType Storage> class ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<typename Float, enum Pose2DStorageType Storage>
class ecl::Pose2D< Float, Storage, enable_if< is_float< Float > >::type >