Class to describe and hold a pose of the robot (x, y)-Position + Orientation in world-coordinates. More...
#include <Pose.h>
Public Member Functions | |
| Pose | interpolate (const Pose &referencePose, float t) const |
| Pose | operator+ (const Transformation2D &transformation) const |
| Pose | operator- (const Transformation2D &transformation) const |
| Transformation2D | operator- (const Pose &pose) const |
| Pose (float x, float y, float theta) | |
| Pose () | |
| void | setTheta (float theta) |
| float | theta () const |
| ~Pose () | |
Protected Attributes | |
| float | m_Theta |
Class to describe and hold a pose of the robot (x, y)-Position + Orientation in world-coordinates.
| Pose::Pose | ( | float | x, |
| float | y, | ||
| float | theta | ||
| ) |
Constructor which initializes the members with the given values.
| x | x-position |
| y | y-position |
| theta | orientation in radiants |
| Pose::Pose | ( | ) |
Default constructor, initializes members to 0.
| Pose::~Pose | ( | ) |
The destructor is empty.
| Pose Pose::interpolate | ( | const Pose & | referencePose, |
| float | t | ||
| ) | const |
Interpolates between two poses and returns a pose which correlates with current pose + t * (reference pose - current pose)
| referencePose | The second pose to interpolate between. |
| t | The factor of interpolation. |
| Pose Pose::operator+ | ( | const Transformation2D & | transformation | ) | const |
| Pose Pose::operator- | ( | const Transformation2D & | transformation | ) | const |
| Transformation2D Pose::operator- | ( | const Pose & | pose | ) | const |
| void Pose::setTheta | ( | float | theta | ) |
| float Pose::theta | ( | ) | const |
float Pose::m_Theta [protected] |