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>

Public Member Functions
virtual void	oplusImpl (const double *update)
	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 $[-\pi \pi]$ .
PoseSE2 &	pose ()
	Access the pose.
const PoseSE2 &	pose () const
	Access the pose (read-only)
Eigen::Vector2d &	position ()
	Access the 2D position part.
const Eigen::Vector2d &	position () const
	Access the 2D position part (read-only)
virtual bool	read (std::istream &is)
	Read an estimate from an input stream. First the x-coordinate followed by y and the yaw angle.
virtual void	setToOriginImpl ()
	Set the underlying estimate (2D vector) to zero.
double &	theta ()
	Access the orientation part (yaw angle) of the pose.
const double &	theta () const
	Access the orientation part (yaw angle) of the pose (read-only)
	VertexPose (bool fixed=false)
	Default constructor.
	VertexPose (const PoseSE2 &pose, bool fixed=false)
	Construct pose using a given PoseSE2.
	VertexPose (const Eigen::Ref< const Eigen::Vector2d > &position, double theta, bool fixed=false)
	Construct pose using a given 2D position vector and orientation.
	VertexPose (double x, double y, double theta, bool fixed=false)
	Construct pose using single components x, y, and the yaw angle.
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.
double &	x ()
	Access the x-coordinate the pose.
const double &	x () const
	Access the x-coordinate the pose (read-only)
double &	y ()
	Access the y-coordinate the pose.
const double &	y () const
	Access the y-coordinate the pose (read-only)
	~VertexPose ()
	Destructs the VertexPose.

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 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 ) [inline, virtual]

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 200 of file vertex_pose.h.

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

Access the pose.

See also:: 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]

Access the pose (read-only)

See also:: 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.

See also:: 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)

See also:: 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 ) [inline, virtual]

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 ( ) [inline, virtual]

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 [inline, virtual]

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:

vertex_pose.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation