Detailed Description

A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle.

Use this class instead of lightweight mrpt::math::TPose2D when pose/point composition is to be called multiple times with the same pose, since this class caches calls to expensive trigronometric functions.

For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer to this documentation page

Note: Read also: "A tutorial on SE(3) transformation parameterizations and on-manifold optimization", Jose-Luis Blanco. http://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf

See also: CPoseOrPoint,CPoint2D

Examples:: serialization_json_example/test.cpp.

Definition at line 39 of file CPose2D.h.

#include <mrpt/poses/CPose2D.h>

Inheritance diagram for mrpt::poses::CPose2D:

Public Types
enum	{ is_3D_val = 0 }

enum	{ rotation_dimensions = 2 }

enum	{ is_PDF_val = 0 }

using	type_value = CPose2D
	Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses. More...

using	vector_t = mrpt::math::CVectorFixedDouble< DIM >
	Fixed-size vector of the correct size to hold all the coordinates of the point/pose. More...

Public Member Functions
	CPose2D ()
	Default constructor (all coordinates to 0) More...

	CPose2D (const double x, const double y, const double phi)
	Constructor from an initial value of the pose. More...

	CPose2D (const CPoint2D &)
	Constructor from a CPoint2D object. More...

	CPose2D (const CPose3D &)
	Aproximation!! Avoid its use, since information is lost. More...

	CPose2D (const mrpt::math::TPose2D &)
	Constructor from lightweight object. More...

mrpt::math::TPose2D	asTPose () const

	CPose2D (const CPoint3D &)
	Constructor from CPoint3D with information loss. More...

	CPose2D (TConstructorFlags_Poses)
	Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument. More...

double	phi () const
	Get the phi angle of the 2D pose (in radians) More...

double &	phi ()

double	phi_cos () const
	Get a (cached) value of cos(phi), recomputing it only once when phi changes. More...

double	phi_sin () const
	Get a (cached) value of sin(phi), recomputing it only once when phi changes. More...

void	phi (double angle)
	Set the phi angle of the 2D pose (in radians) More...

void	phi_incr (const double Aphi)
	Increment the PHI angle (without checking the 2 PI range, call normalizePhi is needed) More...

void	asVector (vector_t &v) const
	Returns a 1x3 vector with [x y phi]. More...

void	getHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...

void	getRotationMatrix (mrpt::math::CMatrixDouble22 &R) const
	Returns the SE(2) 2x2 rotation matrix. More...

void	getRotationMatrix (mrpt::math::CMatrixDouble33 &R) const
	Returns the equivalent SE(3) 3x3 rotation matrix, with (2,2)=1. More...

template<class MATRIX22 >
MATRIX22	getRotationMatrix () const

CPose2D	operator+ (const CPose2D &D) const
	The operator $a = this \oplus D$ is the pose compounding operator. More...

void	composeFrom (const CPose2D &A, const CPose2D &B)
	Makes $this = A \oplus B$ . More...

CPose3D	operator+ (const CPose3D &D) const
	The operator $a = this \oplus D$ is the pose compounding operator. More...

CPoint2D	operator+ (const CPoint2D &u) const
	The operator $u' = this \oplus u$ is the pose/point compounding operator. More...

void	composePoint (double lx, double ly, double &gx, double &gy) const
	An alternative, slightly more efficient way of doing $G = P \oplus L$ with G and L being 2D points and P this 2D pose. More...

void	composePoint (const mrpt::math::TPoint2D &l, mrpt::math::TPoint2D &g) const
	overload $G = P \oplus L$ with G and L being 2D points and P this 2D pose More...

mrpt::math::TPoint3D	composePoint (const mrpt::math::TPoint3D &l) const

void	composePoint (const mrpt::math::TPoint3D &l, mrpt::math::TPoint3D &g) const
	overload $G = P \oplus L$ with G and L being 3D points and P this 2D pose (the "z" coordinate remains unmodified) More...

void	composePoint (double lx, double ly, double lz, double &gx, double &gy, double &gz) const
	overload (the "z" coordinate remains unmodified) More...

void	inverseComposePoint (const double gx, const double gy, double &lx, double &ly) const
	Computes the 2D point L such as $L = G \ominus this$ . More...

void	inverseComposePoint (const mrpt::math::TPoint2D &g, mrpt::math::TPoint2D &l) const

mrpt::math::TPoint2D	inverseComposePoint (const mrpt::math::TPoint2D &g) const

CPoint3D	operator+ (const CPoint3D &u) const
	The operator $u' = this \oplus u$ is the pose/point compounding operator. More...

void	inverseComposeFrom (const CPose2D &A, const CPose2D &B)
	Makes $this = A \ominus B$ this method is slightly more efficient than "this= A - B;" since it avoids the temporary object. More...

void	inverse ()
	Convert this pose into its inverse, saving the result in itself. More...

CPose2D	operator- (const CPose2D &b) const
	Compute $RET = this \ominus b$ . More...

CPose3D	operator- (const CPose3D &b) const
	The operator $a \ominus b$ is the pose inverse compounding operator. More...

void	AddComponents (const CPose2D &p)
	Scalar sum of components: This is diferent from poses composition, which is implemented as "+" operators in "CPose" derived classes. More...

void	operator*= (const double s)
	Scalar multiplication. More...

CPose2D &	operator+= (const CPose2D &b)
	Make $this = this \oplus b$ . More...

void	normalizePhi ()
	Forces "phi" to be in the range [-pi,pi];. More...

CPose2D	getOppositeScalar () const
	Return the opposite of the current pose instance by taking the negative of all its components individually. More...

void	asString (std::string &s) const
	Returns a human-readable textual representation of the object (eg: "[x y yaw]", yaw in degrees) More...

std::string	asString () const

void	fromString (const std::string &s)
	Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" ) More...

void	fromStringRaw (const std::string &s)
	Same as fromString, but without requiring the square brackets in the string. More...

double	operator[] (unsigned int i) const

double &	operator[] (unsigned int i)

void	changeCoordinatesReference (const CPose2D &p)
	makes: this = p (+) this More...

double	distance2DFrobeniusTo (const CPose2D &p) const
	Returns the 2D distance from this pose/point to a 2D pose using the Frobenius distance. More...

const type_value &	getPoseMean () const

type_value &	getPoseMean ()

void	setToNaN () override
	Set all data fields to quiet NaN. More...

const CPose2D &	derived () const

CPose2D &	derived ()

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Static Public Member Functions
static CPose2D	Identity ()
	Returns the identity transformation. More...

static CPose2D	FromString (const std::string &s)

static constexpr bool	is_3D ()

static constexpr bool	is_PDF ()

Public Attributes
mrpt::math::CVectorFixedDouble< 2 >	m_coords
	[x,y] More...

Protected Member Functions
void	update_cached_cos_sin () const

CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Protected Attributes
double	m_phi {.0}
	The orientation of the pose, in radians. More...

double	m_cosphi {1.0}
	Precomputed cos() & sin() of phi. More...

double	m_sinphi {.0}

bool	m_cossin_uptodate {false}

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::poses ::CPose2D >

using	ConstPtr = std::shared_ptr< const mrpt::poses ::CPose2D >

using	UniquePtr = std::unique_ptr< mrpt::poses ::CPose2D >

using	ConstUniquePtr = std::unique_ptr< const mrpt::poses ::CPose2D >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::poses" "::" "CPose2D"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

STL-like methods and typedefs

enum	{ static_size = 3 }

using	value_type = double
	The type of the elements. More...

using	reference = double &

using	const_reference = double

using	size_type = std::size_t

using	difference_type = std::ptrdiff_t

static constexpr size_type	size ()

static constexpr bool	empty ()

static constexpr size_type	max_size ()

static void	resize (const size_t n)

static bool	is3DPoseOrPoint ()
	Return true for poses or points with a Z component, false otherwise. More...

double	x () const
	Common members of all points & poses classes. More...

double &	x ()

void	x (const double v)

double	y () const

double &	y ()

void	y (const double v)

void	x_incr (const double v)

void	y_incr (const double v)

double	sqrDistanceTo (const CPoseOrPoint< OTHERCLASS, DIM2 > &b) const
	Returns the squared euclidean distance to another pose/point: More...

double	distanceTo (const CPoseOrPoint< OTHERCLASS, DIM2 > &b) const
	Returns the Euclidean distance to another pose/point: More...

double	distanceTo (const mrpt::math::TPoint3D &b) const
	Returns the euclidean distance to a 3D point: More...

double	distance2DToSquare (double ax, double ay) const
	Returns the squared 2D distance from this pose/point to a 2D point (ignores Z, if it exists). More...

double	distance3DToSquare (double ax, double ay, double az) const
	Returns the squared 3D distance from this pose/point to a 3D point. More...

double	distance2DTo (double ax, double ay) const
	Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists). More...

double	distance3DTo (double ax, double ay, double az) const
	Returns the 3D distance from this pose/point to a 3D point. More...

double	norm () const
	Returns the euclidean norm of vector: $\|\|\mathbf{x}\|\| = \sqrt{x^2+y^2+z^2}$ . More...

vector_t	asVectorVal () const
	Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation) More...

MATRIX44	getHomogeneousMatrixVal () const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More...

void	getInverseHomogeneousMatrix (MATRIX44 &out_HM) const
	Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. More...

MATRIX44	getInverseHomogeneousMatrixVal () const

Member Typedef Documentation

◆ const_reference

using mrpt::poses::CPose2D::const_reference = double

Definition at line 339 of file CPose2D.h.

◆ ConstPtr

using mrpt::poses::CPose2D::ConstPtr = std::shared_ptr<const mrpt::poses :: CPose2D >

Definition at line 43 of file CPose2D.h.

◆ ConstUniquePtr

using mrpt::poses::CPose2D::ConstUniquePtr = std::unique_ptr<const mrpt::poses :: CPose2D >

Definition at line 43 of file CPose2D.h.

◆ difference_type

using mrpt::poses::CPose2D::difference_type = std::ptrdiff_t

Definition at line 341 of file CPose2D.h.

◆ Ptr

using mrpt::poses::CPose2D::Ptr = std::shared_ptr< mrpt::poses :: CPose2D >

A type for the associated smart pointer

Definition at line 43 of file CPose2D.h.

◆ reference

using mrpt::poses::CPose2D::reference = double&

Definition at line 338 of file CPose2D.h.

◆ size_type

using mrpt::poses::CPose2D::size_type = std::size_t

Definition at line 340 of file CPose2D.h.

◆ type_value

using mrpt::poses::CPose2D::type_value = CPose2D

Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses.

Definition at line 315 of file CPose2D.h.

◆ UniquePtr

using mrpt::poses::CPose2D::UniquePtr = std::unique_ptr< mrpt::poses :: CPose2D >

Definition at line 43 of file CPose2D.h.

◆ value_type

using mrpt::poses::CPose2D::value_type = double

The type of the elements.

Definition at line 337 of file CPose2D.h.

◆ vector_t

using mrpt::poses::CPoseOrPoint< CPose2D , DIM >::vector_t = mrpt::math::CVectorFixedDouble<DIM>

inherited

Fixed-size vector of the correct size to hold all the coordinates of the point/pose.

Definition at line 137 of file CPoseOrPoint.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
is_3D_val

Definition at line 316 of file CPose2D.h.

◆ anonymous enum

anonymous enum

Enumerator
rotation_dimensions

Definition at line 321 of file CPose2D.h.

◆ anonymous enum

anonymous enum

Enumerator
is_PDF_val

Definition at line 325 of file CPose2D.h.

◆ anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 344 of file CPose2D.h.

Constructor & Destructor Documentation

◆ CPose2D() [1/7]

CPose2D::CPose2D ( )

Default constructor (all coordinates to 0)

Definition at line 33 of file CPose2D.cpp.

Referenced by changeCoordinatesReference(), getOppositeScalar(), Identity(), and operator+().

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◆ CPose2D() [2/7]

CPose2D::CPose2D	(	const double	x,
		const double	y,
		const double	phi
	)

Constructor from an initial value of the pose.

Definition at line 34 of file CPose2D.cpp.

References m_coords, normalizePhi(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::x(), and mrpt::poses::CPoseOrPoint< CPose2D, DIM >::y().

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◆ CPose2D() [3/7]

CPose2D::CPose2D ( const CPoint2D & p )

explicit

Constructor from a CPoint2D object.

Definition at line 42 of file CPose2D.cpp.

References m_coords, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ CPose2D() [4/7]

CPose2D::CPose2D ( const CPose3D & p )

explicit

Aproximation!! Avoid its use, since information is lost.

Definition at line 48 of file CPose2D.cpp.

References m_coords, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ CPose2D() [5/7]

CPose2D::CPose2D ( const mrpt::math::TPose2D & o )

explicit

Constructor from lightweight object.

Definition at line 339 of file CPose2D.cpp.

References m_coords, mrpt::math::TPose2D::x, and mrpt::math::TPose2D::y.

◆ CPose2D() [6/7]

CPose2D::CPose2D ( const CPoint3D & o )

explicit

Constructor from CPoint3D with information loss.

Definition at line 346 of file CPose2D.cpp.

References m_coords, normalizePhi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ CPose2D() [7/7]

mrpt::poses::CPose2D::CPose2D ( TConstructorFlags_Poses )

inline

Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument.

Definition at line 84 of file CPose2D.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose2D::_GetBaseClass ( )

staticprotected

◆ AddComponents()

void CPose2D::AddComponents ( const CPose2D & p )

Scalar sum of components: This is diferent from poses composition, which is implemented as "+" operators in "CPose" derived classes.

Definition at line 293 of file CPose2D.cpp.

References m_coords, m_cossin_uptodate, and m_phi.

◆ asString() [1/2]

void CPose2D::asString ( std::string & s ) const

Returns a human-readable textual representation of the object (eg: "[x y yaw]", yaw in degrees)

See also: fromString

Examples:: serialization_json_example/test.cpp.

Definition at line 445 of file CPose2D.cpp.

References mrpt::format(), m_phi, mrpt::RAD2DEG(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::x(), and mrpt::poses::CPoseOrPoint< CPose2D, DIM >::y().

Referenced by mrpt::slam::CMetricMapBuilderICP::processObservation().

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◆ asString() [2/2]

std::string mrpt::poses::CPose2D::asString ( ) const

inline

Definition at line 248 of file CPose2D.h.

◆ asTPose()

mrpt::math::TPose2D CPose2D::asTPose ( ) const

Definition at line 468 of file CPose2D.cpp.

References phi(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::x(), and mrpt::poses::CPoseOrPoint< CPose2D, DIM >::y().

Referenced by mrpt::poses::CPosePDFParticles::changeCoordinatesReference(), mrpt::nav::PlannerSimple2D::computePath(), mrpt::maps::COccupancyGridMap2D::determineMatching2D(), mrpt::slam::CMetricMapBuilderICP::initialize(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionJacobian(), mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), mrpt::slam::CMetricMapBuilderICP::processObservation(), mrpt::nav::CLogFileRecord::serializeFrom(), mrpt::nav::PlannerRRT_SE2_TPS::solve(), and mrpt::slam::CMetricMapBuilderICP::TDist::updatePose().

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◆ asVector()

void CPose2D::asVector ( vector_t & v ) const

Returns a 1x3 vector with [x y phi].

Definition at line 377 of file CPose2D.cpp.

References m_coords, and m_phi.

◆ asVectorVal()

vector_t mrpt::poses::CPoseOrPoint< CPose2D , DIM >::asVectorVal ( ) const

inlineinherited

Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation)

Definition at line 266 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived().

◆ changeCoordinatesReference()

void mrpt::poses::CPose2D::changeCoordinatesReference ( const CPose2D & p )

inline

makes: this = p (+) this

Definition at line 304 of file CPose2D.h.

References composeFrom(), and CPose2D().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPose2D::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ composeFrom()

void CPose2D::composeFrom	(	const CPose2D &	A,
		const CPose2D &	B
	)

Makes $this = A \oplus B$ .

Note: A or B can be "this" without problems.

Definition at line 135 of file CPose2D.cpp.

References m_coords, m_cossin_uptodate, m_phi, and mrpt::math::wrapToPi().

Referenced by mrpt::poses::CPosePDFGaussian::changeCoordinatesReference(), mrpt::poses::CPosePDFGaussianInf::changeCoordinatesReference(), changeCoordinatesReference(), operator+=(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), and mrpt::slam::CMetricMapBuilderICP::processActionObservation().

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◆ composePoint() [1/5]

void CPose2D::composePoint	(	double	lx,
		double	ly,
		double &	gx,
		double &	gy
	)		const

An alternative, slightly more efficient way of doing $G = P \oplus L$ with G and L being 2D points and P this 2D pose.

Definition at line 199 of file CPose2D.cpp.

References m_coords, m_cosphi, m_sinphi, and update_cached_cos_sin().

Referenced by mrpt::nav::CPTG_RobotShape_Polygonal::add_robotShape_to_setOfLines(), mrpt::nav::CPTG_RobotShape_Circular::add_robotShape_to_setOfLines(), composePoint(), mrpt::poses::CPosePDFGaussian::composePoint(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_Consensus(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), ransac_data_assoc_run(), mrpt::tfest::se2_l2_robust(), mrpt::nav::CReactiveNavigationSystem::STEP3_WSpaceToTPSpace(), and mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping().

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◆ composePoint() [2/5]

void CPose2D::composePoint	(	const mrpt::math::TPoint2D &	l,
		mrpt::math::TPoint2D &	g
	)		const

overload $G = P \oplus L$ with G and L being 2D points and P this 2D pose

Definition at line 207 of file CPose2D.cpp.

References composePoint(), mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

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◆ composePoint() [3/5]

mrpt::math::TPoint3D CPose2D::composePoint ( const mrpt::math::TPoint3D & l ) const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 220 of file CPose2D.cpp.

References composePoint().

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◆ composePoint() [4/5]

void CPose2D::composePoint	(	const mrpt::math::TPoint3D &	l,
		mrpt::math::TPoint3D &	g
	)		const

overload $G = P \oplus L$ with G and L being 3D points and P this 2D pose (the "z" coordinate remains unmodified)

Definition at line 215 of file CPose2D.cpp.

References composePoint(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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◆ composePoint() [5/5]

void CPose2D::composePoint	(	double	lx,
		double	ly,
		double	lz,
		double &	gx,
		double &	gy,
		double &	gz
	)		const

overload (the "z" coordinate remains unmodified)

Definition at line 227 of file CPose2D.cpp.

References m_coords, m_cosphi, m_sinphi, and update_cached_cos_sin().

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◆ Create()

template<typename... Args>

static Ptr mrpt::poses::CPose2D::Create ( Args &&... args )

inlinestatic

Definition at line 43 of file CPose2D.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::poses::CPose2D::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 43 of file CPose2D.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::poses::CPose2D::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::poses::CPose2D::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 43 of file CPose2D.h.

◆ derived() [1/2]

const CPose2D & mrpt::poses::CPoseOrPoint< CPose2D , DIM >::derived ( ) const

inlineinherited

Definition at line 129 of file CPoseOrPoint.h.

◆ derived() [2/2]

CPose2D & mrpt::poses::CPoseOrPoint< CPose2D , DIM >::derived ( )

inlineinherited

Definition at line 133 of file CPoseOrPoint.h.

◆ distance2DFrobeniusTo()

double CPose2D::distance2DFrobeniusTo ( const CPose2D & p ) const

Returns the 2D distance from this pose/point to a 2D pose using the Frobenius distance.

Definition at line 425 of file CPose2D.cpp.

References phi(), mrpt::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPoseOrPoint< CPose2D, DIM >::y().

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◆ distance2DTo()

double mrpt::poses::CPoseOrPoint< CPose2D , DIM >::distance2DTo	(	double	ax,
		double	ay
	)		const

inlineinherited

Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists).

Definition at line 237 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::distance2DToSquare().

◆ distance2DToSquare()

double mrpt::poses::CPoseOrPoint< CPose2D , DIM >::distance2DToSquare	(	double	ax,
		double	ay
	)		const

inlineinherited

Returns the squared 2D distance from this pose/point to a 2D point (ignores Z, if it exists).

Definition at line 221 of file CPoseOrPoint.h.

References mrpt::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

◆ distance3DTo()

double mrpt::poses::CPoseOrPoint< CPose2D , DIM >::distance3DTo	(	double	ax,
		double	ay,
		double	az
	)		const

inlineinherited

Returns the 3D distance from this pose/point to a 3D point.

Definition at line 243 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::distance3DToSquare().

◆ distance3DToSquare()

double mrpt::poses::CPoseOrPoint< CPose2D , DIM >::distance3DToSquare	(	double	ax,
		double	ay,
		double	az
	)		const

inlineinherited

Returns the squared 3D distance from this pose/point to a 3D point.

Definition at line 228 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::is3DPoseOrPoint(), mrpt::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

◆ distanceTo() [1/2]

double mrpt::poses::CPoseOrPoint< CPose2D , DIM >::distanceTo ( const CPoseOrPoint< OTHERCLASS, DIM2 > & b ) const

inlineinherited

Returns the Euclidean distance to another pose/point:

Definition at line 214 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::sqrDistanceTo().

◆ distanceTo() [2/2]

double mrpt::poses::CPoseOrPoint< CPose2D , DIM >::distanceTo ( const mrpt::math::TPoint3D & b ) const

inlineinherited

Returns the euclidean distance to a 3D point:

Definition at line 249 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::distance3DTo(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ empty()

static constexpr bool mrpt::poses::CPose2D::empty ( )

inlinestatic

Definition at line 349 of file CPose2D.h.

◆ fromString()

void CPose2D::fromString ( const std::string & s )

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" )

See also: asString

Exceptions

std::exception On invalid format

Definition at line 409 of file CPose2D.cpp.

References ASSERTMSG_, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::DEG2RAD(), mrpt::math::MatrixVectorBase< Scalar, Derived >::fromMatlabStringFormat(), phi(), mrpt::math::CMatrixDynamic< T >::rows(), THROW_EXCEPTION, mrpt::poses::CPoseOrPoint< CPose2D, DIM >::x(), and mrpt::poses::CPoseOrPoint< CPose2D, DIM >::y().

Referenced by FromString(), and fromStringRaw().

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◆ FromString()

static CPose2D mrpt::poses::CPose2D::FromString ( const std::string & s )

inlinestatic

Definition at line 265 of file CPose2D.h.

References fromString().

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◆ fromStringRaw()

void CPose2D::fromStringRaw ( const std::string & s )

Same as fromString, but without requiring the square brackets in the string.

Definition at line 420 of file CPose2D.cpp.

References fromString().

Referenced by mrpt::poses::internal::getPoseFromString().

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◆ getClassName()

static constexpr auto mrpt::poses::CPose2D::getClassName ( )

inlinestatic

Definition at line 43 of file CPose2D.h.

◆ getHomogeneousMatrix()

void CPose2D::getHomogeneousMatrix ( mrpt::math::CMatrixDouble44 & out_HM ) const

Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).

See also: getInverseHomogeneousMatrix

Definition at line 317 of file CPose2D.cpp.

References m_coords, m_cosphi, m_sinphi, mrpt::math::MatrixBase< Scalar, Derived >::setIdentity(), and update_cached_cos_sin().

Referenced by mrpt::poses::CPosePDFSOG::changeCoordinatesReference().

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◆ getHomogeneousMatrixVal()

MATRIX44 mrpt::poses::CPoseOrPoint< CPose2D , DIM >::getHomogeneousMatrixVal ( ) const

inlineinherited

Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).

See also: getInverseHomogeneousMatrix

Definition at line 278 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived().

◆ getInverseHomogeneousMatrix()

void mrpt::poses::CPoseOrPoint< CPose2D , DIM >::getInverseHomogeneousMatrix ( MATRIX44 & out_HM ) const

inlineinherited

Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose.

See also: getHomogeneousMatrix

Definition at line 290 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived(), and mrpt::math::homogeneousMatrixInverse().

◆ getInverseHomogeneousMatrixVal()

MATRIX44 mrpt::poses::CPoseOrPoint< CPose2D , DIM >::getInverseHomogeneousMatrixVal ( ) const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 298 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getInverseHomogeneousMatrix().

◆ getOppositeScalar()

CPose2D CPose2D::getOppositeScalar ( ) const

Return the opposite of the current pose instance by taking the negative of all its components individually.

Definition at line 440 of file CPose2D.cpp.

References CPose2D(), m_coords, and m_phi.

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◆ getPoseMean() [1/2]

const type_value& mrpt::poses::CPose2D::getPoseMean ( ) const

inline

Definition at line 330 of file CPose2D.h.

◆ getPoseMean() [2/2]

type_value& mrpt::poses::CPose2D::getPoseMean ( )

inline

Definition at line 331 of file CPose2D.h.

◆ getRotationMatrix() [1/3]

void CPose2D::getRotationMatrix ( mrpt::math::CMatrixDouble22 & R ) const

Returns the SE(2) 2x2 rotation matrix.

Definition at line 154 of file CPose2D.cpp.

References m_cosphi, m_sinphi, R, and update_cached_cos_sin().

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◆ getRotationMatrix() [2/3]

void CPose2D::getRotationMatrix ( mrpt::math::CMatrixDouble33 & R ) const

Returns the equivalent SE(3) 3x3 rotation matrix, with (2,2)=1.

Definition at line 163 of file CPose2D.cpp.

References m_cosphi, m_sinphi, R, and update_cached_cos_sin().

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◆ getRotationMatrix() [3/3]

template<class MATRIX22 >

MATRIX22 mrpt::poses::CPose2D::getRotationMatrix ( ) const

inline

Definition at line 139 of file CPose2D.h.

References R.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose2D::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPose2D::GetRuntimeClassIdStatic ( )

static

◆ Identity()

static CPose2D mrpt::poses::CPose2D::Identity ( )

inlinestatic

Returns the identity transformation.

Definition at line 66 of file CPose2D.h.

References CPose2D().

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◆ inverse()

void CPose2D::inverse ( )

Convert this pose into its inverse, saving the result in itself.

See also: operator-

Definition at line 365 of file CPose2D.cpp.

References m_coords, m_cosphi, m_cossin_uptodate, m_phi, m_sinphi, update_cached_cos_sin(), mrpt::poses::CPoseOrPoint< CPose2D, DIM >::x(), and mrpt::poses::CPoseOrPoint< CPose2D, DIM >::y().

Referenced by mrpt::poses::operator-().

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◆ inverseComposeFrom()

void CPose2D::inverseComposeFrom	(	const CPose2D &	A,
		const CPose2D &	B
	)

Makes $this = A \ominus B$ this method is slightly more efficient than "this= A - B;" since it avoids the temporary object.

Note: A or B can be "this" without problems.

See also: composeFrom, composePoint

Definition at line 276 of file CPose2D.cpp.

References m_coords, m_cosphi, m_cossin_uptodate, m_phi, m_sinphi, update_cached_cos_sin(), and mrpt::math::wrapToPi().

Referenced by mrpt::nav::PoseDistanceMetric< TNodeSE2_TP >::distance(), and operator-().

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◆ inverseComposePoint() [1/3]

void CPose2D::inverseComposePoint	(	const double	gx,
		const double	gy,
		double &	lx,
		double &	ly
	)		const

Computes the 2D point L such as $L = G \ominus this$ .

See also: composePoint, composeFrom

Definition at line 236 of file CPose2D.cpp.

References m_coords, m_cosphi, m_sinphi, and update_cached_cos_sin().

Referenced by inverseComposePoint(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

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◆ inverseComposePoint() [2/3]

void CPose2D::inverseComposePoint	(	const mrpt::math::TPoint2D &	g,
		mrpt::math::TPoint2D &	l
	)		const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 247 of file CPose2D.cpp.

References inverseComposePoint(), mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

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◆ inverseComposePoint() [3/3]

mrpt::math::TPoint2D CPose2D::inverseComposePoint ( const mrpt::math::TPoint2D & g ) const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 252 of file CPose2D.cpp.

References inverseComposePoint().

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◆ is3DPoseOrPoint()

static bool mrpt::poses::CPoseOrPoint< CPose2D , DIM >::is3DPoseOrPoint ( )

inlinestaticinherited

Return true for poses or points with a Z component, false otherwise.

Definition at line 180 of file CPoseOrPoint.h.

◆ is_3D()

static constexpr bool mrpt::poses::CPose2D::is_3D ( )

inlinestatic

Definition at line 320 of file CPose2D.h.

References is_3D_val.

◆ is_PDF()

static constexpr bool mrpt::poses::CPose2D::is_PDF ( )

inlinestatic

Definition at line 329 of file CPose2D.h.

References is_PDF_val.

◆ max_size()

static constexpr size_type mrpt::poses::CPose2D::max_size ( )

inlinestatic

Definition at line 350 of file CPose2D.h.

References static_size.

◆ norm()

double mrpt::poses::CPoseOrPoint< CPose2D , DIM >::norm ( ) const

inlineinherited

Returns the euclidean norm of vector: $||\mathbf{x}|| = \sqrt{x^2+y^2+z^2}$ .

Definition at line 256 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::is3DPoseOrPoint(), mrpt::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

◆ normalizePhi()

void CPose2D::normalizePhi ( )

Forces "phi" to be in the range [-pi,pi];.

Definition at line 333 of file CPose2D.cpp.

References m_cossin_uptodate, m_phi, and mrpt::math::wrapToPi().

Referenced by mrpt::poses::CPosePDFGaussian::bayesianFusion(), mrpt::poses::CPosePDFGaussianInf::bayesianFusion(), CPose2D(), mrpt::poses::CPoseRandomSampler::do_sample_2D(), mrpt::poses::CPosePDFGaussian::drawSingleSample(), mrpt::poses::CPosePDFGaussianInf::drawSingleSample(), and mrpt::obs::CActionRobotMovement2D::drawSingleSample_modelThrun().

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◆ operator*=()

void CPose2D::operator*= ( const double s )

Scalar multiplication.

Definition at line 304 of file CPose2D.cpp.

References m_coords, m_cossin_uptodate, and m_phi.

◆ operator+() [1/4]

CPose2D CPose2D::operator+ ( const CPose2D & D ) const

The operator $a = this \oplus D$ is the pose compounding operator.

Definition at line 122 of file CPose2D.cpp.

References CPose2D(), m_coords, m_cosphi, m_phi, m_sinphi, and update_cached_cos_sin().

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◆ operator+() [2/4]

CPose3D CPose2D::operator+ ( const CPose3D & D ) const

The operator $a = this \oplus D$ is the pose compounding operator.

Definition at line 180 of file CPose2D.cpp.

◆ operator+() [3/4]

CPoint2D CPose2D::operator+ ( const CPoint2D & u ) const

The operator $u' = this \oplus u$ is the pose/point compounding operator.

Definition at line 188 of file CPose2D.cpp.

References m_coords, m_cosphi, m_sinphi, update_cached_cos_sin(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ operator+() [4/4]

CPoint3D CPose2D::operator+ ( const CPoint3D & u ) const

The operator $u' = this \oplus u$ is the pose/point compounding operator.

Definition at line 263 of file CPose2D.cpp.

References m_coords, m_cosphi, m_sinphi, update_cached_cos_sin(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ operator+=()

CPose2D & CPose2D::operator+= ( const CPose2D & b )

Make $this = this \oplus b$ .

Definition at line 403 of file CPose2D.cpp.

References composeFrom().

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◆ operator-() [1/2]

CPose2D mrpt::poses::CPose2D::operator- ( const CPose2D & b ) const

inline

Compute $RET = this \ominus b$ .

Definition at line 210 of file CPose2D.h.

References inverseComposeFrom(), and mrpt::poses::UNINITIALIZED_POSE.

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◆ operator-() [2/2]

CPose3D CPose2D::operator- ( const CPose3D & b ) const

The operator $a \ominus b$ is the pose inverse compounding operator.

Definition at line 432 of file CPose2D.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getInverseHomogeneousMatrixVal().

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◆ operator[]() [1/2]

double mrpt::poses::CPose2D::operator[] ( unsigned int i ) const

inline

Definition at line 272 of file CPose2D.h.

References m_coords, and m_phi.

◆ operator[]() [2/2]

double& mrpt::poses::CPose2D::operator[] ( unsigned int i )

inline

Definition at line 287 of file CPose2D.h.

References m_coords, and m_phi.

◆ phi() [1/3]

double mrpt::poses::CPose2D::phi ( ) const

inline

Get the phi angle of the 2D pose (in radians)

Definition at line 86 of file CPose2D.h.

References m_phi.

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◆ phi() [2/3]

double& mrpt::poses::CPose2D::phi ( )

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 88 of file CPose2D.h.

References m_cossin_uptodate, and m_phi.

◆ phi() [3/3]

void mrpt::poses::CPose2D::phi ( double angle )

inline

Set the phi angle of the 2D pose (in radians)

Definition at line 110 of file CPose2D.h.

References m_cossin_uptodate, and m_phi.

◆ phi_cos()

double mrpt::poses::CPose2D::phi_cos ( ) const

inline

Get a (cached) value of cos(phi), recomputing it only once when phi changes.

Definition at line 96 of file CPose2D.h.

References m_cosphi, and update_cached_cos_sin().

Referenced by mrpt::poses::operator+().

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◆ phi_incr()

void mrpt::poses::CPose2D::phi_incr ( const double Aphi )

inline

Increment the PHI angle (without checking the 2 PI range, call normalizePhi is needed)

Definition at line 118 of file CPose2D.h.

References m_cossin_uptodate, and m_phi.

◆ phi_sin()

double mrpt::poses::CPose2D::phi_sin ( ) const

inline

Get a (cached) value of sin(phi), recomputing it only once when phi changes.

Definition at line 103 of file CPose2D.h.

References m_sinphi, and update_cached_cos_sin().

Referenced by mrpt::poses::operator+().

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◆ resize()

static void mrpt::poses::CPose2D::resize ( const size_t n )

inlinestatic

Definition at line 351 of file CPose2D.h.

References mrpt::format(), and static_size.

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◆ serializeFrom() [1/2]

void CPose2D::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 60 of file CPose2D.cpp.

References m_coords, m_cossin_uptodate, m_phi, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and phi().

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CPose2D::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 54 of file CPose2D.cpp.

◆ serializeTo() [1/2]

void CPose2D::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 55 of file CPose2D.cpp.

References m_coords, m_phi, and out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setToNaN()

void CPose2D::setToNaN ( )

overridevirtual

Set all data fields to quiet NaN.

Implements mrpt::poses::CPoseOrPoint< CPose2D, DIM >.

Definition at line 450 of file CPose2D.cpp.

◆ size()

static constexpr size_type mrpt::poses::CPose2D::size ( )

inlinestatic

Definition at line 348 of file CPose2D.h.

References static_size.

◆ sqrDistanceTo()

double mrpt::poses::CPoseOrPoint< CPose2D , DIM >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS, DIM2 > & b ) const

inlineinherited

Returns the squared euclidean distance to another pose/point:

Definition at line 187 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::is3DPoseOrPoint(), mrpt::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

◆ update_cached_cos_sin()

void CPose2D::update_cached_cos_sin ( ) const

protected

Definition at line 456 of file CPose2D.cpp.

References m_cosphi, m_cossin_uptodate, m_phi, and m_sinphi.

Referenced by composePoint(), getHomogeneousMatrix(), getRotationMatrix(), inverse(), inverseComposeFrom(), inverseComposePoint(), operator+(), phi_cos(), and phi_sin().

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

◆ x() [1/3]

double mrpt::poses::CPoseOrPoint< CPose2D , DIM >::x ( ) const

inlineinherited

Common members of all points & poses classes.

< Get X coord.

Definition at line 143 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived().

Referenced by asString(), asTPose(), CPose2D(), distance2DFrobeniusTo(), fromString(), and inverse().

◆ x() [2/3]

double& mrpt::poses::CPoseOrPoint< CPose2D , DIM >::x ( )

inlineinherited

Definition at line 152 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived().

◆ x() [3/3]

void mrpt::poses::CPoseOrPoint< CPose2D , DIM >::x ( const double v )

inlineinherited

Parameters

v	Set X coord.

Definition at line 161 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived().

◆ x_incr()

void mrpt::poses::CPoseOrPoint< CPose2D , DIM >::x_incr ( const double v )

inlineinherited

Parameters

v X+=v

Definition at line 170 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived().

◆ y() [1/3]

double mrpt::poses::CPoseOrPoint< CPose2D , DIM >::y ( ) const

inlineinherited

< Get Y coord.

Definition at line 147 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived().

Referenced by asString(), asTPose(), CPose2D(), distance2DFrobeniusTo(), fromString(), and inverse().

◆ y() [2/3]

double& mrpt::poses::CPoseOrPoint< CPose2D , DIM >::y ( )

inlineinherited

Definition at line 156 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived().

◆ y() [3/3]

void mrpt::poses::CPoseOrPoint< CPose2D , DIM >::y ( const double v )

inlineinherited

Parameters

v	Set Y coord.

Definition at line 165 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived().

◆ y_incr()

void mrpt::poses::CPoseOrPoint< CPose2D , DIM >::y_incr ( const double v )

inlineinherited

Parameters

v Y+=v

Definition at line 174 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::derived().

Member Data Documentation

◆ className

constexpr const char* mrpt::poses::CPose2D::className = "mrpt::poses" "::" "CPose2D"

static

Definition at line 43 of file CPose2D.h.

◆ m_coords

mrpt::math::CVectorFixedDouble<2> mrpt::poses::CPose2D::m_coords

[x,y]

Definition at line 48 of file CPose2D.h.

Referenced by AddComponents(), asVector(), composeFrom(), composePoint(), CPose2D(), getHomogeneousMatrix(), getOppositeScalar(), inverse(), inverseComposeFrom(), inverseComposePoint(), operator*=(), operator+(), operator[](), serializeFrom(), and serializeTo().

◆ m_cosphi

double mrpt::poses::CPose2D::m_cosphi {1.0}

mutableprotected

Precomputed cos() & sin() of phi.

Definition at line 54 of file CPose2D.h.

Referenced by composePoint(), getHomogeneousMatrix(), getRotationMatrix(), inverse(), inverseComposeFrom(), inverseComposePoint(), operator+(), phi_cos(), and update_cached_cos_sin().

◆ m_cossin_uptodate

bool mrpt::poses::CPose2D::m_cossin_uptodate {false}

mutableprotected

Definition at line 55 of file CPose2D.h.

Referenced by AddComponents(), composeFrom(), inverse(), inverseComposeFrom(), normalizePhi(), operator*=(), phi(), phi_incr(), serializeFrom(), and update_cached_cos_sin().

◆ m_phi

double mrpt::poses::CPose2D::m_phi {.0}

protected

The orientation of the pose, in radians.

Definition at line 52 of file CPose2D.h.

Referenced by AddComponents(), asString(), asVector(), composeFrom(), getOppositeScalar(), inverse(), inverseComposeFrom(), normalizePhi(), operator*=(), operator+(), operator[](), phi(), phi_incr(), serializeFrom(), serializeTo(), and update_cached_cos_sin().

◆ m_sinphi

double mrpt::poses::CPose2D::m_sinphi {.0}

mutableprotected

Definition at line 54 of file CPose2D.h.

Referenced by composePoint(), getHomogeneousMatrix(), getRotationMatrix(), inverse(), inverseComposeFrom(), inverseComposePoint(), operator+(), phi_sin(), and update_cached_cos_sin().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose2D::runtimeClassId

staticprotected

Definition at line 43 of file CPose2D.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

STL-like methods and typedefs

Member Typedef Documentation

◆ const_reference

◆ ConstPtr

◆ ConstUniquePtr

◆ difference_type

◆ Ptr

◆ reference

◆ size_type

◆ type_value

◆ UniquePtr

◆ value_type

◆ vector_t

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ CPose2D() [1/7]

◆ CPose2D() [2/7]

◆ CPose2D() [3/7]

◆ CPose2D() [4/7]

◆ CPose2D() [5/7]

◆ CPose2D() [6/7]

◆ CPose2D() [7/7]

Member Function Documentation

◆ _GetBaseClass()

◆ AddComponents()

◆ asString() [1/2]

◆ asString() [2/2]

◆ asTPose()

◆ asVector()

◆ asVectorVal()

◆ changeCoordinatesReference()

◆ clone()

◆ composeFrom()

◆ composePoint() [1/5]

◆ composePoint() [2/5]

◆ composePoint() [3/5]

◆ composePoint() [4/5]

◆ composePoint() [5/5]

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ derived() [1/2]

◆ derived() [2/2]

◆ distance2DFrobeniusTo()

◆ distance2DTo()

◆ distance2DToSquare()

◆ distance3DTo()

◆ distance3DToSquare()

◆ distanceTo() [1/2]

◆ distanceTo() [2/2]

◆ duplicateGetSmartPtr()

◆ empty()

◆ fromString()

◆ FromString()

◆ fromStringRaw()

◆ getClassName()

◆ getHomogeneousMatrix()

◆ getHomogeneousMatrixVal()

◆ getInverseHomogeneousMatrix()

◆ getInverseHomogeneousMatrixVal()

◆ getOppositeScalar()

◆ getPoseMean() [1/2]

◆ getPoseMean() [2/2]

◆ getRotationMatrix() [1/3]

◆ getRotationMatrix() [2/3]

◆ getRotationMatrix() [3/3]

◆ GetRuntimeClass()