karto::Pose2 Class Reference

#include <Geometry.h>

Public Member Functions
kt_double	AngleTo (const Vector2d &rVector) const
kt_double	GetHeading () const
const Vector2d &	GetPosition () const
kt_double	GetX () const
kt_double	GetY () const
kt_bool	operator!= (const Pose2 &rOther) const
Pose2	operator+ (const Pose2 &rOther) const
void	operator+= (const Pose2 &rOther)
Pose2	operator- (const Pose2 &rOther) const
Pose2 &	operator= (const Pose2 &rOther)
kt_bool	operator== (const Pose2 &rOther) const
	Pose2 ()
	Pose2 (const Vector2d &rPosition, kt_double heading=0)
	Pose2 (kt_double x, kt_double y, kt_double heading)
	Pose2 (const Pose3 &rPose)
	Pose2 (const Pose2 &rOther)
void	SetHeading (kt_double heading)
void	SetPosition (const Vector2d &rPosition)
void	SetX (kt_double x)
void	SetY (kt_double y)
kt_double	SquaredDistance (const Pose2 &rOther) const
const String	ToString (kt_int32u precision=4) const

Private Attributes
kt_double	m_Heading
Vector2d	m_Position

Friends
KARTO_FORCEINLINE std::ostream &	operator<< (std::ostream &rStream, const Pose2 &rPose)

Detailed Description

Defines a pose (position and heading) in 2-dimensional space.

Definition at line 2182 of file Geometry.h.

Constructor & Destructor Documentation

karto::Pose2::Pose2

(

)

Pose at the origin with a heading of 0

Definition at line 28 of file Geometry.cpp.

karto::Pose2::Pose2	(	const Vector2d &	rPosition,
		kt_double	heading = 0
	)

Pose with given position and heading

Parameters

rPosition	position
heading	heading

Definition at line 33 of file Geometry.cpp.

karto::Pose2::Pose2	(	kt_double	x,
		kt_double	y,
		kt_double	heading
	)

Pose with given position and heading

Parameters

x	x-coordinate
y	y-coordinate
heading	heading

Definition at line 39 of file Geometry.cpp.

karto::Pose2::Pose2

(

const Pose3 &

rPose

)

Pose2 object from a Pose3 (ignores z-coordinate)

Definition at line 45 of file Geometry.cpp.

karto::Pose2::Pose2

(

const Pose2 &

rOther

)

Copy constructor

Definition at line 54 of file Geometry.cpp.

Member Function Documentation

kt_double karto::Pose2::AngleTo ( const Vector2d &  rVector ) const

inline

Return the angle from this pose to the given vector

Parameters

rVector

vector

Returns

angle to given vector

Definition at line 2303 of file Geometry.h.

kt_double karto::Pose2::GetHeading ( ) const

inline

Returns the heading of the pose (in radians)

Returns

the heading of this pose

Definition at line 2274 of file Geometry.h.

const Vector2d& karto::Pose2::GetPosition ( ) const

inline

Returns the position

Returns

the position of this pose

Definition at line 2256 of file Geometry.h.

kt_double karto::Pose2::GetX ( ) const

inline

Returns the x-coordinate

Returns

the x-coordinate of this pose

Definition at line 2220 of file Geometry.h.

kt_double karto::Pose2::GetY ( ) const

inline

Returns the y-coordinate

Returns

the y-coordinate of this pose

Definition at line 2238 of file Geometry.h.

kt_bool karto::Pose2::operator!= ( const Pose2 &  rOther ) const

inline

Inequality operator

Definition at line 2348 of file Geometry.h.

Pose2 karto::Pose2::operator+ ( const Pose2 &  rOther ) const

inline

Pose2 addition

Definition at line 2365 of file Geometry.h.

void karto::Pose2::operator+= ( const Pose2 &  rOther )

inline

In-place Pose2 addition

Definition at line 2356 of file Geometry.h.

Pose2 karto::Pose2::operator- ( const Pose2 &  rOther ) const

inline

Pose2 subtraction

Definition at line 2373 of file Geometry.h.

Pose2& karto::Pose2::operator= ( const Pose2 &  rOther )

inline

Assignment operator

Definition at line 2329 of file Geometry.h.

kt_bool karto::Pose2::operator== ( const Pose2 &  rOther ) const

inline

Equality operator

Definition at line 2340 of file Geometry.h.

void karto::Pose2::SetHeading ( kt_double  heading )

inline

Sets the heading

Parameters

heading

new heading

Definition at line 2283 of file Geometry.h.

void karto::Pose2::SetPosition ( const Vector2d &  rPosition )

inline

Sets the position

Parameters

rPosition

new position

Definition at line 2265 of file Geometry.h.

void karto::Pose2::SetX ( kt_double  x )

inline

Sets the x-coordinate

Parameters

x	new x-coordinate

Definition at line 2229 of file Geometry.h.

void karto::Pose2::SetY ( kt_double  y )

inline

Sets the y-coordinate

Parameters

y	new y-coordinate

Definition at line 2247 of file Geometry.h.

kt_double karto::Pose2::SquaredDistance ( const Pose2 &  rOther ) const

inline

Return the squared distance between this pose and the given pose

Parameters

rOther

pose

Returns

squared distance between this pose and the given pose

Definition at line 2293 of file Geometry.h.

const String karto::Pose2::ToString ( kt_int32u  precision = 4 ) const

inline

Returns a string representation of this pose

Parameters

precision

precision, default 4

Returns

string representation of this pose

Definition at line 2314 of file Geometry.h.

Friends And Related Function Documentation

KARTO_FORCEINLINE std::ostream& operator<< ( std::ostream &  rStream, const Pose2 &  rPose  )

friend

Write this pose onto output stream

Definition at line 2381 of file Geometry.h.

Member Data Documentation

kt_double karto::Pose2::m_Heading

private

Definition at line 2390 of file Geometry.h.

Vector2d karto::Pose2::m_Position

private

Definition at line 2388 of file Geometry.h.

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

• Geometry.h
• Geometry.cpp