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:

Public Member Functions
virtual void	oplusImpl (const double *update) override
	Define the update increment $\mathbf{x}_{k+1} = \mathbf{x}_k + \Delta \mathbf{x}$ . A simple addition for the position. The angle is first added to the previous estimated angle and afterwards normalized to the interval $[-\pi \pi]$ . More...

PoseSE2 &	pose ()
	Access the pose. More...

const PoseSE2 &	pose () const
	Access the pose (read-only) More...

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

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

virtual bool	read (std::istream &is) override
	Read an estimate from an input stream. First the x-coordinate followed by y and the yaw angle. More...

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

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

Detailed Description

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

See also: PoseSE2; VertexTimeDiff

Definition at line 104 of file vertex_pose.h.

Constructor & Destructor Documentation

◆ VertexPose() [1/4]

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 112 of file vertex_pose.h.

◆ VertexPose() [2/4]

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 123 of file vertex_pose.h.

◆ VertexPose() [3/4]

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 135 of file vertex_pose.h.

◆ VertexPose() [4/4]

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 149 of file vertex_pose.h.

Member Function Documentation

◆ oplusImpl()

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

inlineoverridevirtual

Define the update increment $\mathbf{x}_{k+1} = \mathbf{x}_k + \Delta \mathbf{x}$ . A simple addition for the position. The angle is first added to the previous estimated angle and afterwards normalized to the interval $[-\pi \pi]$ .

Parameters

update increment that should be added to the previous esimate

Definition at line 236 of file vertex_pose.h.

◆ pose() [1/2]

PoseSE2& teb_local_planner::VertexPose::pose ( )

inline

Access the pose.

See also: estimate

Returns: reference to the PoseSE2 estimate

Definition at line 162 of file vertex_pose.h.

◆ pose() [2/2]

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

inline

Access the pose (read-only)

See also: estimate

Returns: const reference to the PoseSE2 estimate

Definition at line 169 of file vertex_pose.h.

◆ position() [1/2]

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

inline

Access the 2D position part.

See also: estimate

Returns: reference to the 2D position part

Definition at line 177 of file vertex_pose.h.

◆ position() [2/2]

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

inline

Access the 2D position part (read-only)

See also: estimate

Returns: const reference to the 2D position part

Definition at line 184 of file vertex_pose.h.

◆ read()

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

inlineoverridevirtual

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 247 of file vertex_pose.h.

◆ setToOriginImpl()

virtual void teb_local_planner::VertexPose::setToOriginImpl ( )

inlineoverridevirtual

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

Definition at line 225 of file vertex_pose.h.

◆ theta() [1/2]

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 214 of file vertex_pose.h.

◆ theta() [2/2]

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 220 of file vertex_pose.h.

◆ write()

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

inlineoverridevirtual

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 259 of file vertex_pose.h.

◆ x() [1/2]

double& teb_local_planner::VertexPose::x ( )

inline

Access the x-coordinate the pose.

Returns: reference to the x-coordinate

Definition at line 190 of file vertex_pose.h.

◆ x() [2/2]

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 196 of file vertex_pose.h.

◆ y() [1/2]

double& teb_local_planner::VertexPose::y ( )

inline

Access the y-coordinate the pose.

Returns: reference to the y-coordinate

Definition at line 202 of file vertex_pose.h.

◆ y() [2/2]

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 208 of file vertex_pose.h.

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

vertex_pose.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ VertexPose() [1/4]

◆ VertexPose() [2/4]

◆ VertexPose() [3/4]

◆ VertexPose() [4/4]

Member Function Documentation

◆ oplusImpl()

◆ pose() [1/2]

◆ pose() [2/2]

◆ position() [1/2]

◆ position() [2/2]

◆ read()

◆ setToOriginImpl()

◆ theta() [1/2]

◆ theta() [2/2]

◆ write()

◆ x() [1/2]

◆ x() [2/2]

◆ y() [1/2]

◆ y() [2/2]