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

Definition at line 40 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 }

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

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

	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...

	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...

const 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	getAsVector (mrpt::math::CVectorDouble &v) const
	Returns a 1x3 vector with [x y phi]. More...

void	getAsVector (mrpt::math::CArrayDouble< 3 > &v) const

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...

mrpt::math::CMatrixDouble22	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...

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

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...

const 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...

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
mrpt::utils::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

static bool	is_3D ()

static bool	is_PDF ()

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

Protected Member Functions
void	update_cached_cos_sin () const

CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version) override
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

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

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

double	m_sinphi

bool	m_cossin_uptodate

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

using	ConstPtr = std::shared_ptr< const CPose2D >

static mrpt::utils::CLASSINIT	_init_CPose2D

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CPose2D"

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

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

static mrpt::utils::CObject *	CreateObject ()

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

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

virtual mrpt::utils::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 }

typedef double	value_type
	The type of the elements. More...

typedef double &	reference

typedef const double &	const_reference

typedef std::size_t	size_type

typedef std::ptrdiff_t	difference_type

static size_type	size ()

static bool	empty ()

static 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 > &b) const
	Returns the squared euclidean distance to another pose/point: More...

double	distanceTo (const CPoseOrPoint< OTHERCLASS > &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...

mrpt::math::CVectorDouble	getAsVectorVal () const
	Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation) More...

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

void	getInverseHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const
	Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. More...

mrpt::math::CMatrixDouble44	getInverseHomogeneousMatrix () const

Member Typedef Documentation

◆ const_reference

typedef const double& mrpt::poses::CPose2D::const_reference

Definition at line 335 of file CPose2D.h.

◆ ConstPtr

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

Definition at line 43 of file CPose2D.h.

◆ difference_type

typedef std::ptrdiff_t mrpt::poses::CPose2D::difference_type

Definition at line 337 of file CPose2D.h.

◆ Ptr

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

A typedef for the associated smart pointer

Definition at line 43 of file CPose2D.h.

◆ reference

typedef double& mrpt::poses::CPose2D::reference

Definition at line 334 of file CPose2D.h.

◆ size_type

typedef std::size_t mrpt::poses::CPose2D::size_type

Definition at line 336 of file CPose2D.h.

◆ type_value

typedef CPose2D mrpt::poses::CPose2D::type_value

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

Definition at line 311 of file CPose2D.h.

◆ value_type

typedef double mrpt::poses::CPose2D::value_type

The type of the elements.

Definition at line 333 of file CPose2D.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
is_3D_val

Definition at line 312 of file CPose2D.h.

◆ anonymous enum

anonymous enum

Enumerator
rotation_dimensions

Definition at line 317 of file CPose2D.h.

◆ anonymous enum

anonymous enum

Enumerator
is_PDF_val

Definition at line 321 of file CPose2D.h.

◆ anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 340 of file CPose2D.h.

Constructor & Destructor Documentation

◆ CPose2D() [1/7]

CPose2D::CPose2D ( )

Default constructor (all coordinates to 0)

Definition at line 30 of file CPose2D.cpp.

Referenced by changeCoordinatesReference(), getOppositeScalar(), 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 35 of file CPose2D.cpp.

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

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◆ CPose2D() [3/7]

CPose2D::CPose2D ( const CPoint2D & p )

explicit

Constructor from a CPoint2D object.

Definition at line 43 of file CPose2D.cpp.

References m_coords.

◆ CPose2D() [4/7]

CPose2D::CPose2D ( const CPose3D & p )

explicit

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

Definition at line 49 of file CPose2D.cpp.

References m_coords.

◆ CPose2D() [5/7]

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

explicit

Constructor from lightweight object.

Definition at line 311 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 318 of file CPose2D.cpp.

References m_coords, normalizePhi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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 89 of file CPose2D.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::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 264 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

Definition at line 433 of file CPose2D.cpp.

References mrpt::mrpt::format(), m_phi, mrpt::mrpt::utils::RAD2DEG(), mrpt::poses::CPoseOrPoint< CPose2D >::x(), and mrpt::poses::CPoseOrPoint< CPose2D >::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 251 of file CPose2D.h.

◆ changeCoordinatesReference()

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

inline

makes: this = p (+) this

Definition at line 300 of file CPose2D.h.

References composeFrom(), and CPose2D().

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◆ clone()

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

overridevirtual

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

Implements mrpt::utils::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 124 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::poses::CPosePDFGaussian::changeCoordinatesReference(), mrpt::poses::CPosePDFGaussianInf::changeCoordinatesReference(), changeCoordinatesReference(), operator+=(), mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update(), and mrpt::slam::CMetricMapBuilderICP::processActionObservation().

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◆ composePoint() [1/4]

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 188 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() [2/4]

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 196 of file CPose2D.cpp.

References composePoint(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

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◆ composePoint() [3/4]

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 204 of file CPose2D.cpp.

References composePoint(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

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◆ composePoint() [4/4]

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 210 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.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::poses::CPose2D::CreateObject ( )

static

◆ 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 410 of file CPose2D.cpp.

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

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◆ distance2DTo()

double mrpt::poses::CPoseOrPoint< CPose2D >::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 233 of file CPoseOrPoint.h.

◆ distance2DToSquare()

double mrpt::poses::CPoseOrPoint< CPose2D >::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 213 of file CPoseOrPoint.h.

◆ distance3DTo()

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

inlineinherited

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

Definition at line 239 of file CPoseOrPoint.h.

◆ distance3DToSquare()

double mrpt::poses::CPoseOrPoint< CPose2D >::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 220 of file CPoseOrPoint.h.

◆ distanceTo() [1/2]

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

inlineinherited

Returns the Euclidean distance to another pose/point:

Definition at line 206 of file CPoseOrPoint.h.

◆ distanceTo() [2/2]

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

inlineinherited

Returns the euclidean distance to a 3D point:

Definition at line 245 of file CPoseOrPoint.h.

◆ empty()

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

inlinestatic

Definition at line 345 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 392 of file CPose2D.cpp.

References ASSERTMSG_, DEG2RAD, phi(), mrpt::mrpt::math::size(), THROW_EXCEPTION, mrpt::poses::CPoseOrPoint< CPose2D >::x(), and mrpt::poses::CPoseOrPoint< CPose2D >::y().

Referenced by fromStringRaw().

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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 405 of file CPose2D.cpp.

References fromString().

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◆ getAsVector() [1/2]

void CPose2D::getAsVector ( mrpt::math::CVectorDouble & v ) const

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

Definition at line 352 of file CPose2D.cpp.

References m_coords, and m_phi.

◆ getAsVector() [2/2]

void CPose2D::getAsVector ( mrpt::math::CArrayDouble< 3 > & v ) 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 360 of file CPose2D.cpp.

References m_coords, and m_phi.

◆ getAsVectorVal()

mrpt::math::CVectorDouble mrpt::poses::CPoseOrPoint< CPose2D >::getAsVectorVal ( ) const

inlineinherited

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

Definition at line 265 of file CPoseOrPoint.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 288 of file CPose2D.cpp.

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

Referenced by mrpt::poses::CPosePDFSOG::changeCoordinatesReference(), and operator-().

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◆ getHomogeneousMatrixVal()

mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< CPose2D >::getHomogeneousMatrixVal ( ) const

inlineinherited

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

See also: getInverseHomogeneousMatrix

Definition at line 276 of file CPoseOrPoint.h.

◆ getInverseHomogeneousMatrix() [1/2]

void mrpt::poses::CPoseOrPoint< CPose2D >::getInverseHomogeneousMatrix ( mrpt::math::CMatrixDouble44 & out_HM ) const

inlineinherited

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

See also: getHomogeneousMatrix

Definition at line 287 of file CPoseOrPoint.h.

◆ getInverseHomogeneousMatrix() [2/2]

mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< CPose2D >::getInverseHomogeneousMatrix ( ) 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 295 of file CPoseOrPoint.h.

◆ 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 428 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 326 of file CPose2D.h.

◆ getPoseMean() [2/2]

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

inline

Definition at line 327 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 143 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 152 of file CPose2D.cpp.

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

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◆ getRotationMatrix() [3/3]

mrpt::math::CMatrixDouble22 mrpt::poses::CPose2D::getRotationMatrix ( ) const

inline

Definition at line 145 of file CPose2D.h.

References R, and mrpt::math::UNINITIALIZED_MATRIX.

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ GetRuntimeClassIdStatic()

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

static

◆ inverse()

void CPose2D::inverse ( )

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

See also: operator-

Definition at line 337 of file CPose2D.cpp.

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

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 247 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() [1/2]

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 219 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() [2/2]

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

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 191 of file CPose2D.h.

References inverseComposePoint(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

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◆ is3DPoseOrPoint()

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

inlinestaticinherited

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

Definition at line 172 of file CPoseOrPoint.h.

◆ is_3D()

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

inlinestatic

Definition at line 316 of file CPose2D.h.

References is_3D_val.

◆ is_PDF()

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

inlinestatic

Definition at line 325 of file CPose2D.h.

References is_PDF_val.

◆ max_size()

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

inlinestatic

Definition at line 346 of file CPose2D.h.

References static_size.

◆ norm()

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

inlineinherited

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

Definition at line 252 of file CPoseOrPoint.h.

◆ normalizePhi()

void CPose2D::normalizePhi ( )

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

Definition at line 305 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::CPosePDFGaussian::drawSingleSample(), mrpt::poses::CPosePDFGaussianInf::drawSingleSample(), and mrpt::obs::CActionRobotMovement2D::drawSingleSample_modelThrun().

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◆ operator delete() [1/3]

void mrpt::poses::CPose2D::operator delete ( void * ptr )

inlinenoexcept

Definition at line 43 of file CPose2D.h.

◆ operator delete() [2/3]

void mrpt::poses::CPose2D::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 43 of file CPose2D.h.

◆ operator delete() [3/3]

void mrpt::poses::CPose2D::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 43 of file CPose2D.h.

◆ operator delete[]()

void mrpt::poses::CPose2D::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 43 of file CPose2D.h.

◆ operator new() [1/3]

static void* mrpt::poses::CPose2D::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 43 of file CPose2D.h.

◆ operator new() [2/3]

void* mrpt::poses::CPose2D::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 43 of file CPose2D.h.

◆ operator new() [3/3]

void* mrpt::poses::CPose2D::operator new ( size_t size )

inline

Definition at line 43 of file CPose2D.h.

◆ operator new[]()

void* mrpt::poses::CPose2D::operator new[] ( size_t size )

inline

Definition at line 43 of file CPose2D.h.

◆ operator*=()

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

Scalar multiplication.

Definition at line 275 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 111 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 169 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 177 of file CPose2D.cpp.

References m_coords, m_cosphi, m_sinphi, update_cached_cos_sin(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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 234 of file CPose2D.cpp.

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

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◆ operator+=()

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

Make $this = this \oplus b$ .

Definition at line 386 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 213 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 417 of file CPose2D.cpp.

References getHomogeneousMatrix(), and mrpt::math::UNINITIALIZED_MATRIX.

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◆ operator[]() [1/2]

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

inline

Definition at line 268 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 283 of file CPose2D.h.

References m_coords, and m_phi.

◆ phi() [1/3]

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

inline

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

Definition at line 91 of file CPose2D.h.

References m_phi.

◆ 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 93 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 115 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 101 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 123 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 108 of file CPose2D.h.

References m_sinphi, and update_cached_cos_sin().

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

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◆ readFromStream()

void CPose2D::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

overrideprotectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

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 error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 74 of file CPose2D.cpp.

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

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◆ resize()

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

inlinestatic

Definition at line 347 of file CPose2D.h.

References mrpt::format(), and static_size.

Referenced by mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update().

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◆ setToNaN()

void CPose2D::setToNaN ( )

overridevirtual

Set all data fields to quiet NaN.

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

Definition at line 438 of file CPose2D.cpp.

◆ size()

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

inlinestatic

Definition at line 344 of file CPose2D.h.

References static_size.

Referenced by mrpt::slam::CRangeBearingKFSLAM2D::OnObservationModel().

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◆ sqrDistanceTo()

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

inlineinherited

Returns the squared euclidean distance to another pose/point:

Definition at line 179 of file CPoseOrPoint.h.

◆ update_cached_cos_sin()

void mrpt::poses::CPose2D::update_cached_cos_sin ( ) const

inlineprotected

Definition at line 56 of file CPose2D.h.

References m_cosphi, m_cossin_uptodate, m_phi, and m_sinphi.

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

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◆ writeToMatlab()

virtual mxArray* mrpt::utils::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 89 of file CSerializable.h.

◆ writeToStream()

void CPose2D::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

overrideprotectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 59 of file CPose2D.cpp.

References m_coords, and m_phi.

◆ x() [1/3]

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

inlineinherited

Common members of all points & poses classes.

< Get X coord.

Definition at line 135 of file CPoseOrPoint.h.

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

◆ x() [2/3]

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

inlineinherited

Definition at line 144 of file CPoseOrPoint.h.

◆ x() [3/3]

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

inlineinherited

Parameters

v	Set X coord.

Definition at line 153 of file CPoseOrPoint.h.

◆ x_incr()

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

inlineinherited

Parameters

v X+=v

Definition at line 162 of file CPoseOrPoint.h.

◆ y() [1/3]

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

inlineinherited

< Get Y coord.

Definition at line 139 of file CPoseOrPoint.h.

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

◆ y() [2/3]

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

inlineinherited

Definition at line 148 of file CPoseOrPoint.h.

◆ y() [3/3]

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

inlineinherited

Parameters

v	Set Y coord.

Definition at line 157 of file CPoseOrPoint.h.

◆ y_incr()

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

inlineinherited

Parameters

v Y+=v

Definition at line 166 of file CPoseOrPoint.h.

Member Data Documentation

◆ _init_CPose2D

mrpt::utils::CLASSINIT mrpt::poses::CPose2D::_init_CPose2D

staticprotected

Definition at line 43 of file CPose2D.h.

◆ className

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

static

Definition at line 43 of file CPose2D.h.

◆ m_coords

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

[x,y]

Definition at line 47 of file CPose2D.h.

Referenced by AddComponents(), composeFrom(), composePoint(), CPose2D(), getAsVector(), getHomogeneousMatrix(), getOppositeScalar(), inverse(), inverseComposeFrom(), inverseComposePoint(), operator*=(), operator+(), operator[](), readFromStream(), and writeToStream().

◆ m_cosphi

double mrpt::poses::CPose2D::m_cosphi

mutableprotected

Precomputed cos() & sin() of phi.

Definition at line 53 of file CPose2D.h.

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

◆ m_cossin_uptodate

bool mrpt::poses::CPose2D::m_cossin_uptodate

mutableprotected

Definition at line 54 of file CPose2D.h.

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

◆ m_phi

double mrpt::poses::CPose2D::m_phi

protected

The orientation of the pose, in radians.

Definition at line 51 of file CPose2D.h.

Referenced by AddComponents(), asString(), composeFrom(), getAsVector(), getOppositeScalar(), inverse(), inverseComposeFrom(), normalizePhi(), operator*=(), operator+(), operator[](), phi(), phi_incr(), readFromStream(), update_cached_cos_sin(), and writeToStream().

◆ m_sinphi

double mrpt::poses::CPose2D::m_sinphi

mutableprotected

Definition at line 53 of file CPose2D.h.

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

◆ runtimeClassId

const mrpt::utils::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

◆ difference_type

◆ Ptr

◆ reference

◆ size_type

◆ type_value

◆ value_type

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]

◆ changeCoordinatesReference()

◆ clone()

◆ composeFrom()

◆ composePoint() [1/4]

◆ composePoint() [2/4]

◆ composePoint() [3/4]

◆ composePoint() [4/4]

◆ Create()

◆ CreateObject()

◆ distance2DFrobeniusTo()

◆ distance2DTo()

◆ distance2DToSquare()

◆ distance3DTo()

◆ distance3DToSquare()

◆ distanceTo() [1/2]

◆ distanceTo() [2/2]

◆ empty()

◆ fromString()

◆ fromStringRaw()

◆ getAsVector() [1/2]

◆ getAsVector() [2/2]

◆ getAsVectorVal()

◆ getHomogeneousMatrix()

◆ getHomogeneousMatrixVal()

◆ getInverseHomogeneousMatrix() [1/2]

◆ getInverseHomogeneousMatrix() [2/2]

◆ getOppositeScalar()

◆ getPoseMean() [1/2]

◆ getPoseMean() [2/2]

◆ getRotationMatrix() [1/3]

◆ getRotationMatrix() [2/3]

◆ getRotationMatrix() [3/3]

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ inverse()

◆ inverseComposeFrom()

◆ inverseComposePoint() [1/2]

◆ inverseComposePoint() [2/2]

◆ is3DPoseOrPoint()

◆ is_3D()

◆ is_PDF()

◆ max_size()

◆ norm()

◆ normalizePhi()