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44 #ifndef _TRANSFORMATION2_HXX_
45 #define _TRANSFORMATION2_HXX_
94 return v1.values[0]*
v2.values[0]
95 +
v1.values[1]*
v2.values[1];
102 v1.values[1]+
v2.values[1]);
109 v1.values[1]-
v2.values[1]);
152 for (
int i=0;
i<3;
i++){
169 if (initAsIdentity) {
243 for (
int i=0;
i<2;
i++)
244 for (
int j=0;
j<2;
j++){
248 for (
int i=0;
i<2;
i++){
250 for (
int j=0;
j<2;
j++){
263 m.rotationMatrix[0][0]*
v.values[0]+
264 m.rotationMatrix[0][1]*
v.values[1]+
265 m.translationVector[0],
266 m.rotationMatrix[1][0]*
v.values[0]+
267 m.rotationMatrix[1][1]*
v.values[1]+
268 m.translationVector[1]);
275 for (
int i=0;
i<2;
i++)
276 for (
int j=0;
j<2;
j++){
278 for (
int k=0; k<2; k++)
281 for (
int i=0;
i<2;
i++){
283 for (
int j=0;
j<2;
j++)
305 for (
int i=0;
i<3;
i++){
307 for (
int j=0;
j<3;
j++)
308 v.values[
i]+=
m.values[
i][
j]*
p.values[
j];
317 for (
int i=0;
i<3;
i++)
318 for (
int j=0;
j<3;
j++)
319 m.values[
i][
j]=
d*
s.values[
i][
j];
327 for (
int i=0;
i<3;
i++)
328 for (
int j=0;
j<3;
j++){
330 for (
int k=0; k<3; k++){
341 for (
int i=0;
i<3;
i++)
342 for (
int j=0;
j<3;
j++){
365 for (
int i=0;
i<3;
i++)
366 for (
int j=0;
j<3;
j++)
SMatrix3< T > transpose() const
Vector2< T > operator*(const T &d, const Vector2< T > &v)
Transformation2< T > TransformationType
Pose2(const T &x, const T &y, const T &theta)
T values[3]
container for x, y, and theta
Tenmplate class to define the operations in 2D
Pose2< T > ParametersType
A class to represent symmetric 3x3 matrices.
Template class for representing a 2D point (x and y coordinate)
2D Point (x,y) with orientation (theta)
T values[2]
container for x and y
Vector2< T > operator+(const Vector2< T > &v1, const Vector2< T > &v2)
AnnoyingScalar atan2(const AnnoyingScalar &y, const AnnoyingScalar &x)
Matrix trans(const Matrix &A)
GLM_FUNC_DECL genType cos(genType const &angle)
SMatrix3< T > inv() const
Array< int, Dynamic, 1 > v
SMatrix3< T > InformationType
Vector2< T > operator-(const Vector2< T > &v1, const Vector2< T > &v2)
Vector2< T > TranslationType
SMatrix3< T > CovarianceType
GLM_FUNC_DECL genType sin(genType const &angle)
SMatrix3< T > adj() const
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:22