Detailed Description

Lightweight 2D pose.

Allows coordinate access using [] operator.

See also: mrpt::poses::CPose2D

Definition at line 194 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Public Types
enum	{ static_size = 3 }

Public Member Functions
	TPose2D (const TPoint2D &p)
	Implicit constructor from TPoint2D. More...

	TPose2D (const TPoint3D &p)
	Constructor from TPoint3D, losing information. More...

	TPose2D (const TPose3D &p)
	Constructor from TPose3D, losing information. More...

	TPose2D (const mrpt::poses::CPose2D &p)
	Implicit constructor from heavyweight type. More...

	TPose2D (double xx, double yy, double pphi)
	Constructor from coordinates. More...

	TPose2D ()
	Default fast constructor. More...

double &	operator[] (size_t i)
	Coordinate access using operator[]. More...

const double &	operator[] (size_t i) const
	Coordinate access using operator[]. More...

void	getAsVector (std::vector< double > &v) const
	Transformation into vector. 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

mrpt::math::TPose2D	operator+ (const mrpt::math::TPose2D &b) const
	Operator "oplus" pose composition: "ret=this \oplus b". More...

mrpt::math::TPose2D	operator- (const mrpt::math::TPose2D &b) const
	Operator "ominus" pose composition: "ret=this \ominus b". More...

void	composePoint (const TPoint2D l, TPoint2D &g) const

void	inverseComposePoint (const TPoint2D g, TPoint2D &l) const

double	norm () const
	Returns the norm of the (x,y) vector (phi is not used) More...

void	fromString (const std::string &s)
	Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -45.0]" ) More...

Static Public Member Functions
static size_t	size ()

Public Attributes
double	x
	X,Y coordinates. More...

double	y

double	phi
	Orientation (rads) More...

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 196 of file lightweight_geom_data.h.

Constructor & Destructor Documentation

◆ TPose2D() [1/6]

mrpt::math::TPose2D::TPose2D ( const TPoint2D & p )

Implicit constructor from TPoint2D.

Zeroes the phi coordinate.

See also: TPoint2D

Definition at line 72 of file lightweight_geom_data.cpp.

◆ TPose2D() [2/6]

mrpt::math::TPose2D::TPose2D ( const TPoint3D & p )

explicit

Constructor from TPoint3D, losing information.

Zeroes the phi coordinate.

See also: TPoint3D

Definition at line 73 of file lightweight_geom_data.cpp.

◆ TPose2D() [3/6]

mrpt::math::TPose2D::TPose2D ( const TPose3D & p )

explicit

Constructor from TPose3D, losing information.

The phi corresponds to the original pose's yaw.

See also: TPose3D

Definition at line 74 of file lightweight_geom_data.cpp.

◆ TPose2D() [4/6]

mrpt::math::TPose2D::TPose2D ( const mrpt::poses::CPose2D & p )

Implicit constructor from heavyweight type.

See also: mrpt::poses::CPose2D

Definition at line 75 of file lightweight_geom_data.cpp.

◆ TPose2D() [5/6]

mrpt::math::TPose2D::TPose2D	(	double	xx,
		double	yy,
		double	pphi
	)

inline

Constructor from coordinates.

Definition at line 228 of file lightweight_geom_data.h.

◆ TPose2D() [6/6]

mrpt::math::TPose2D::TPose2D ( )

inline

Default fast constructor.

Initializes to garbage.

Definition at line 234 of file lightweight_geom_data.h.

Member Function Documentation

◆ asString() [1/2]

void mrpt::math::TPose2D::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 79 of file lightweight_geom_data.cpp.

References mrpt::mrpt::format(), phi, and mrpt::mrpt::utils::RAD2DEG().

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), and mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep().

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◆ asString() [2/2]

std::string mrpt::math::TPose2D::asString ( ) const

inline

Definition at line 280 of file lightweight_geom_data.h.

◆ composePoint()

void mrpt::math::TPose2D::composePoint	(	const TPoint2D	l,
		TPoint2D &	g
	)		const

inline

Definition at line 291 of file lightweight_geom_data.h.

References phi, mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

◆ fromString()

void mrpt::math::TPose2D::fromString ( const std::string & s )

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -45.0]" )

See also: asString

Exceptions

std::exception On invalid format

Definition at line 83 of file lightweight_geom_data.cpp.

References ASSERTMSG_, DEG2RAD, phi, mrpt::mrpt::math::size(), and THROW_EXCEPTION.

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◆ getAsVector()

void mrpt::math::TPose2D::getAsVector ( std::vector< double > & v ) const

inline

Transformation into vector.

Definition at line 268 of file lightweight_geom_data.h.

References phi, x, and y.

◆ inverseComposePoint()

void mrpt::math::TPose2D::inverseComposePoint	(	const TPoint2D	g,
		TPoint2D &	l
	)		const

inline

Definition at line 297 of file lightweight_geom_data.h.

References phi, mrpt::math::TPoint2D::x, x, mrpt::math::TPoint2D::y, and y.

Referenced by mrpt::nav::CReactiveNavigationSystem::checkCollisionWithLatestObstacles(), mrpt::nav::CReactiveNavigationSystem3D::checkCollisionWithLatestObstacles(), and mrpt::nav::CParameterizedTrajectoryGenerator::evalClearanceSingleObstacle().

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◆ norm()

double mrpt::math::TPose2D::norm ( ) const

inline

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

Definition at line 305 of file lightweight_geom_data.h.

References mrpt::mrpt::math::hypot_fast().

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◆ operator+()

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

Operator "oplus" pose composition: "ret=this \oplus b".

See also: CPose2D

Definition at line 95 of file lightweight_geom_data.cpp.

References mrpt::math::wrapToPi().

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◆ operator-()

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

Operator "ominus" pose composition: "ret=this \ominus b".

See also: CPose2D

Definition at line 107 of file lightweight_geom_data.cpp.

References mrpt::math::wrapToPi().

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◆ operator[]() [1/2]

double& mrpt::math::TPose2D::operator[] ( size_t i )

inline

Coordinate access using operator[].

Order: x,y,phi

Definition at line 236 of file lightweight_geom_data.h.

References phi, x, and y.

◆ operator[]() [2/2]

const double& mrpt::math::TPose2D::operator[] ( size_t i ) const

inline

Coordinate access using operator[].

Order: x,y,phi

Definition at line 251 of file lightweight_geom_data.h.

References phi, x, and y.

◆ size()

static size_t mrpt::math::TPose2D::size ( )

inlinestatic

Definition at line 312 of file lightweight_geom_data.h.

Referenced by mrpt::maps::CPointsMap::determineMatching2D().

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Member Data Documentation

◆ phi

double mrpt::math::TPose2D::phi

Orientation (rads)

Definition at line 203 of file lightweight_geom_data.h.

Referenced by asString(), mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::obs::carmen_log_parse_line(), composePoint(), mrpt::maps::COccupancyGridMap2D::determineMatching2D(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), fromString(), getAsVector(), mrpt::poses::CRobot2DPoseEstimator::getCurrentEstimate(), mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTVelLocal(), mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricVelLocal(), mrpt::hwdrivers::CRovio::getPosition(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), mrpt::kinematics::CVehicleSimul_Holo::internal_simulControlStep(), mrpt::kinematics::CVehicleSimul_DiffDriven::internal_simulControlStep(), inverseComposePoint(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_file(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), mrpt::math::operator!=(), mrpt::math::operator<<(), mrpt::math::operator==(), mrpt::math::operator>>(), operator[](), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), mrpt::tfest::se2_l2(), mrpt::kinematics::CVehicleSimul_Holo::sendVelCmd(), mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(), mrpt::nav::PlannerRRT_SE2_TPS::solve(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ x

double mrpt::math::TPose2D::x

X,Y coordinates.

Definition at line 201 of file lightweight_geom_data.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::obs::carmen_log_parse_line(), mrpt::poses::CPose2D::CPose2D(), mrpt::maps::COccupancyGridMap2D::determineMatching2D(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), getAsVector(), mrpt::hwdrivers::CRovio::getPosition(), mrpt::hwdrivers::CRovio::getRovioState(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), inverseComposePoint(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_file(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), mrpt::math::operator!=(), mrpt::math::operator<<(), mrpt::math::operator==(), mrpt::math::operator>>(), operator[](), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), mrpt::tfest::se2_l2(), mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(), TEST(), mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ y

double mrpt::math::TPose2D::y

Definition at line 201 of file lightweight_geom_data.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::calc_move_candidate_scores(), mrpt::obs::carmen_log_parse_line(), mrpt::poses::CPose2D::CPose2D(), mrpt::maps::COccupancyGridMap2D::determineMatching2D(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), getAsVector(), mrpt::hwdrivers::CRovio::getPosition(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), inverseComposePoint(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_file(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), mrpt::math::operator!=(), mrpt::math::operator<<(), mrpt::math::operator==(), mrpt::math::operator>>(), operator[](), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), mrpt::tfest::se2_l2(), TEST(), mrpt::nav::CParameterizedTrajectoryGenerator::updateNavDynamicState(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ TPose2D() [1/6]

◆ TPose2D() [2/6]

◆ TPose2D() [3/6]

◆ TPose2D() [4/6]

◆ TPose2D() [5/6]

◆ TPose2D() [6/6]

Member Function Documentation

◆ asString() [1/2]

◆ asString() [2/2]

◆ composePoint()

◆ fromString()

◆ getAsVector()

◆ inverseComposePoint()

◆ norm()

◆ operator+()

◆ operator-()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ size()

Member Data Documentation

◆ phi

◆ x

◆ y