#include <pose2d.h>

Public Member Functions
template<typename T >
void	copyToROSPose (T &des) const

bool	equal (const Pose2D &o, double tolerance) const

double	get_theta () const

double	get_x () const

double	get_y () const

Pose2D	inv () const

void	normalizeOrientation ()

Pose2D &	operator+= (const cv::Vec< double, 3 > &s)

Pose2D &	operator-= (const cv::Vec< double, 3 > &s)

Point2D	point_ahead (double d=1.) const

	Pose2D ()

	Pose2D (const Point2D &p, double orientation)

	Pose2D (const Pose2D &p)

	Pose2D (double x, double y, double orientation)

	Pose2D (const cv::Vec< double, 3 > &s)

const Point2D &	position () const

Point2D &	position ()

void	recompute_cached_cos_sin () const

Pose2D &	set (double x, const double y, double phi)

Pose2D &	set (const Point2D &position, const Point2D &point_ahead)

Pose2D &	set (const Pose2D &p)

void	set_theta (double v)

void	set_x (double v)

void	set_y (double v)

cv::Vec< double, 3 >	state_vector () const

std::string	str (const char *format="[%6.4lf, %6.4lf, %6.5lf]") const

Tf2D	tf () const

const double &	theta () const

double &	theta ()

double	theta_cos () const

double	theta_sin () const

Pose2D	transform_into (const Pose2D &target) const

Point2D &	transform_into_base (const Point2D &src, Point2D &des) const

const double &	x () const

double &	x ()

const double &	y () const

double &	y ()

Protected Member Functions
void	update_cached_cos_sin () const

Protected Attributes
bool	cossin_uptodate_

double	costheta_
	rotation in rad More...

double	orientation_
	position More...

Point2D	position_

double	sintheta_

Friends
std::ostream &	operator<< (std::ostream &os, const Pose2D &o)

Detailed Description

class to represent a pose in 2D space the class caches the cos(theta) and sin(theta) values

Definition at line 17 of file pose2d.h.

Constructor & Destructor Documentation

Pose2D::Pose2D ( )

Definition at line 4 of file pose2d.cpp.

Pose2D::Pose2D	(	const Point2D &	p,
		double	orientation
	)

Definition at line 5 of file pose2d.cpp.

Pose2D::Pose2D ( const Pose2D & p )

Definition at line 6 of file pose2d.cpp.

Pose2D::Pose2D	(	double	x,
		double	y,
		double	orientation
	)

Definition at line 7 of file pose2d.cpp.

Pose2D::Pose2D ( const cv::Vec< double, 3 > & s )

Definition at line 8 of file pose2d.cpp.

Member Function Documentation

template<typename T >

void tuw::Pose2D::copyToROSPose ( T & des ) const

inline

Used to copy the Pose2D object into a ros geometry_msgs::Pose

Parameters

copy t

Definition at line 257 of file pose2d.h.

bool Pose2D::equal	(	const Pose2D &	o,
		double	tolerance
	)		const

compares with within tolerance

Parameters

o
tolerance

Definition at line 271 of file pose2d.cpp.

double Pose2D::get_theta ( ) const

get function for theta

Returns: theta component

Definition at line 141 of file pose2d.cpp.

double Pose2D::get_x ( ) const

get function for x

Returns: x component

Definition at line 113 of file pose2d.cpp.

double Pose2D::get_y ( ) const

get function for y

Returns: y component

Definition at line 127 of file pose2d.cpp.

Pose2D Pose2D::inv ( ) const

invert pose

Returns: inverted pose

Definition at line 168 of file pose2d.cpp.

void Pose2D::normalizeOrientation ( )

normalizes the orientation value betwenn -PI and PI

Definition at line 147 of file pose2d.cpp.

Pose2D & Pose2D::operator+= ( const cv::Vec< double, 3 > & s )

adds a state vector [x, y, theta] the orientation will be normalized between -PI and PI

Parameters

s object

Returns: pose

adds a state vector [x, y, theta]

Parameters

s object

Returns: this

Definition at line 191 of file pose2d.cpp.

Pose2D & Pose2D::operator-= ( const cv::Vec< double, 3 > & s )

substracts a state vector [x, y, theta] the orientation will be normalized between -PI and PI

Parameters

s object

Returns: this

substracts a state vector [x, y, theta]

Parameters

s object

Returns: this

Definition at line 202 of file pose2d.cpp.

Point2D Pose2D::point_ahead ( double d = 1. ) const

computes a transformation matrix

Returns: transformation

point infront of the pose

Parameters

d	distance ahead

Returns: point

Definition at line 54 of file pose2d.cpp.

const Point2D & Pose2D::position ( ) const

position

Returns: translational

location as vector

Returns: translational

Definition at line 47 of file pose2d.cpp.

Point2D & Pose2D::position ( )

location as vector

Returns: translational

Definition at line 79 of file pose2d.cpp.

void Pose2D::recompute_cached_cos_sin ( ) const

enforces the recompuation of the cached value of cos(theta) and sin(theta), recomputing it only once when theta changes.

Definition at line 221 of file pose2d.cpp.

Pose2D & Pose2D::set	(	double	x,
		const double	y,
		double	phi
	)

set the pose

Parameters

x
y
phi	(orientation)

Returns: this reference

set the pose

Parameters

x
y
phi	(orientation_)

Returns: this reference

Definition at line 16 of file pose2d.cpp.

Pose2D & Pose2D::set	(	const Point2D &	position,
		const Point2D &	point_ahead
	)

set the pose based on two points in world coordinates

Parameters

position
point_ahead

Returns: this reference

Definition at line 28 of file pose2d.cpp.

Pose2D & Pose2D::set ( const Pose2D & p )

set the pose

Parameters

p pose

Returns: this reference

Definition at line 39 of file pose2d.cpp.

void Pose2D::set_theta ( double v )

set funktion for theta

Parameters

theta component

Definition at line 134 of file pose2d.cpp.

void Pose2D::set_x ( double v )

set funktion for x

Parameters

x component

Definition at line 106 of file pose2d.cpp.

void Pose2D::set_y ( double v )

set funktion for y

Parameters

y component

Definition at line 120 of file pose2d.cpp.

cv::Vec< double, 3 > Pose2D::state_vector ( ) const

retuns a state vector [x, y, theta]

Returns: state vector [x, y, theta]

Definition at line 161 of file pose2d.cpp.

std::string Pose2D::str ( const char * format = "[%6.4lf, %6.4lf, %6.5lf]" ) const

returns x, y and theta as formated string

Parameters

format using printf format

Returns: string

Definition at line 259 of file pose2d.cpp.

Tf2D Pose2D::tf ( ) const

translational x component

Returns: x component

computes a transformation matrix

Returns: transformation

Definition at line 153 of file pose2d.cpp.

const double & Pose2D::theta ( ) const

rotational component

Returns: rotation

roational component

Returns: rotation

Definition at line 73 of file pose2d.cpp.

double & Pose2D::theta ( )

position

Returns: rotation

roational component

Returns: rotation

Definition at line 97 of file pose2d.cpp.

double Pose2D::theta_cos ( ) const

get a (cached) value of cos(theta), recomputing it only once when theta changes.

Returns: cos(theta)

Definition at line 241 of file pose2d.cpp.

double Pose2D::theta_sin ( ) const

get a (cached) value of cos(theta), recomputing it only once when theta changes.

Returns: sin(theta)

Definition at line 250 of file pose2d.cpp.

Pose2D Pose2D::transform_into ( const Pose2D & target ) const

transforms a pose into the target frame the orientation will be normalized between -PI and PI

Parameters

target target frame

Returns: pose in target frame

Definition at line 213 of file pose2d.cpp.

Point2D & Pose2D::transform_into_base	(	const Point2D &	src,
		Point2D &	des
	)		const

transforms a point from pose target space into pose base space

Parameters

src	point in pose target space
des	point in pose base space

Returns: ref point in pose base space

Definition at line 178 of file pose2d.cpp.

void Pose2D::update_cached_cos_sin ( ) const

protected

Updates the cached value of cos(phi) and sin(phi), recomputing it only once when phi changes.

Definition at line 230 of file pose2d.cpp.

const double & Pose2D::x ( ) const

point in front of the pose

Parameters

d	distance ahead

Returns: point

translational x component

Returns: x component

Definition at line 61 of file pose2d.cpp.

double & Pose2D::x ( )

translational y component

Returns: y component

translational x component

Returns: x component

Definition at line 85 of file pose2d.cpp.

const double & Pose2D::y ( ) const

translational y component

Returns: y component

Definition at line 67 of file pose2d.cpp.

double & Pose2D::y ( )

rotational component

Returns: rotation

translational y component

Returns: y component

Definition at line 91 of file pose2d.cpp.

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	os,
		const Pose2D &	o
	)

friend

Stream extraction

Parameters

os	outputstream
o	object

Returns: stream

Definition at line 231 of file pose2d.h.

Member Data Documentation

bool tuw::Pose2D::cossin_uptodate_

mutableprotected

Definition at line 23 of file pose2d.h.

double tuw::Pose2D::costheta_

mutableprotected

rotation in rad

Definition at line 22 of file pose2d.h.

double tuw::Pose2D::orientation_

protected

position

Definition at line 21 of file pose2d.h.

Point2D tuw::Pose2D::position_

protected

Definition at line 20 of file pose2d.h.

double tuw::Pose2D::sintheta_

mutableprotected

Definition at line 22 of file pose2d.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation