struct mrpt::math::TPose2D

Overview

Lightweight 2D pose.

Allows coordinate access using [] operator.

See also:

mrpt::poses::CPose2D

#include <mrpt/math/TPose2D.h>

struct TPose2D:
    public mrpt::math::TPoseOrPoint,
    public mrpt::math::internal::ProvideStaticResize
{
    // enums

    enum
    {
        static_size = 3,
    };

    // fields

    double x {.0};
    double y {.0};
    double phi {.0};

    // construction

    TPose2D(const TPoint2D& p);
    TPose2D(const TPoint3D& p);
    TPose2D(const TPose3D& p);
    TPose2D(double xx, double yy, double Phi);
    TPose2D();

    // methods

    static constexpr TPose2D Identity();

    template <typename Vector>
    static TPose2D FromVector(const Vector& v);

    static TPose2D FromString(const std::string& s);
    double& operator [] (size_t i);
    constexpr double operator [] (size_t i) const;

    template <typename Vector>
    void asVector(Vector& v) const;

    template <typename Vector>
    Vector asVector() const;

    void asString(std::string& s) const;
    std::string asString() const;
    mrpt::math::TPose2D operator + (const mrpt::math::TPose2D& b) const;
    mrpt::math::TPose2D operator - (const mrpt::math::TPose2D& b) const;
    mrpt::math::TPoint2D composePoint(const TPoint2D l) const;
    mrpt::math::TPoint2D operator + (const mrpt::math::TPoint2D& b) const;
    mrpt::math::TPoint2D inverseComposePoint(const TPoint2D g) const;
    mrpt::math::TPoint2D translation() const;
    double norm() const;
    void normalizePhi();
    void fromString(const std::string& s);
};

Inherited Members

public:
    // methods

    void resize(std::size_t n);

Fields

double x {.0}

X,Y coordinates.

double phi {.0}

Orientation (rads)

Construction

TPose2D(const TPoint2D& p)

Implicit constructor from TPoint2D.

Zeroes the phi coordinate.

See also:

TPoint2D

TPose2D(const TPoint3D& p)

Constructor from TPoint3D, losing information.

Zeroes the phi coordinate.

See also:

TPoint3D

TPose2D(const TPose3D& p)

Constructor from TPose3D, losing information.

The phi corresponds to the original pose’s yaw.

See also:

TPose3D

TPose2D(double xx, double yy, double Phi)

Constructor from coordinates.

TPose2D()

Default fast constructor.

Initializes to zeros.

Methods

static constexpr TPose2D Identity()

Returns the identity transformation.

template <typename Vector>
static TPose2D FromVector(const Vector& v)

Builds from the first 3 elements of a vector-like object: [x y phi].

Parameters:

Vector

It can be std::vector<double>, Eigen::VectorXd, etc.

double& operator [] (size_t i)

Coordinate access using operator[].

Order: x,y,phi

constexpr double operator [] (size_t i) const

Coordinate access using operator[].

Order: x,y,phi

template <typename Vector>
void asVector(Vector& v) const

Gets the pose as a vector of doubles.

Parameters:

Vector

It can be std::vector<double>, Eigen::VectorXd, etc.

template <typename Vector>
Vector asVector() const

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

void asString(std::string& s) const

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

See also:

fromString

mrpt::math::TPose2D operator + (const mrpt::math::TPose2D& b) const

Operator “oplus” pose composition: “ret=this oplus b”.

See also:

CPose2D

mrpt::math::TPose2D operator - (const mrpt::math::TPose2D& b) const

Operator “ominus” pose composition: “ret=this ominus b”.

See also:

CPose2D

mrpt::math::TPoint2D translation() const

Returns the (x,y) translational part of the SE(2) transformation.

double norm() const

Returns the norm of the (x,y) vector (phi is not used)

void normalizePhi()

Forces “phi” to be in the range [-pi,pi].

void fromString(const std::string& s)

Set the current object value from a string generated by ‘asString’ (eg: “[0.02 1.04 -45.0]” )

Parameters:

std::exception

On invalid format

See also:

asString