Detailed Description

2D twist: 2D velocity vector (vx,vy) + planar angular velocity (omega)

See also: mrpt::math::TTwist3D, mrpt::math::TPose2D

Definition at line 2193 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Public Types
enum	{ static_size = 3 }

Public Member Functions
	TTwist2D (double vx_, double vy_, double omega_)
	Constructor from components. More...

	TTwist2D ()
	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	rotate (const double ang)
	Transform the (vx,vy) components for a counterclockwise rotation of `ang` radians. More...

bool	operator== (const TTwist2D &o) const

bool	operator!= (const TTwist2D &o) const

mrpt::math::TPose2D	operator* (const double dt) const
	Returns the pose increment of multiplying each twist component times "dt" seconds. More...

void	asString (std::string &s) const
	Returns a human-readable textual representation of the object (eg: "[vx vy omega]", omega in deg/s) 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 -45.0]" ) More...

Static Public Member Functions
static size_t	size ()

Public Attributes
double	vx
	Velocity components: X,Y (m/s) More...

double	vy

double	omega
	Angular velocity (rad/s) More...

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
static_size

Definition at line 2195 of file lightweight_geom_data.h.

Constructor & Destructor Documentation

◆ TTwist2D() [1/2]

mrpt::math::TTwist2D::TTwist2D	(	double	vx_,
		double	vy_,
		double	omega_
	)

inline

Constructor from components.

Definition at line 2205 of file lightweight_geom_data.h.

◆ TTwist2D() [2/2]

mrpt::math::TTwist2D::TTwist2D ( )

inline

Default fast constructor.

Initializes to garbage

Definition at line 2210 of file lightweight_geom_data.h.

Member Function Documentation

◆ asString() [1/2]

void mrpt::math::TTwist2D::asString ( std::string & s ) const

Returns a human-readable textual representation of the object (eg: "[vx vy omega]", omega in deg/s)

See also: fromString

Definition at line 122 of file lightweight_geom_data.cpp.

References mrpt::mrpt::format(), omega, mrpt::mrpt::utils::RAD2DEG(), vx, and vy.

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◆ asString() [2/2]

std::string mrpt::math::TTwist2D::asString ( ) const

inline

Definition at line 2262 of file lightweight_geom_data.h.

◆ fromString()

void mrpt::math::TTwist2D::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 126 of file lightweight_geom_data.cpp.

References ASSERTMSG_, DEG2RAD, omega, mrpt::mrpt::math::size(), THROW_EXCEPTION, vx, and vy.

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◆ getAsVector()

void mrpt::math::TTwist2D::getAsVector ( std::vector< double > & v ) const

inline

Transformation into vector.

Definition at line 2242 of file lightweight_geom_data.h.

References omega, vx, and vy.

◆ operator!=()

bool mrpt::math::TTwist2D::operator!= ( const TTwist2D & o ) const

Definition at line 151 of file lightweight_geom_data.cpp.

◆ operator*()

mrpt::math::TPose2D mrpt::math::TTwist2D::operator* ( const double dt ) const

Returns the pose increment of multiplying each twist component times "dt" seconds.

Definition at line 152 of file lightweight_geom_data.cpp.

References omega, vx, and vy.

◆ operator==()

bool mrpt::math::TTwist2D::operator== ( const TTwist2D & o ) const

Definition at line 147 of file lightweight_geom_data.cpp.

References omega, vx, and vy.

◆ operator[]() [1/2]

double& mrpt::math::TTwist2D::operator[] ( size_t i )

inline

Coordinate access using operator[].

Order: vx,vy,vphi

Definition at line 2212 of file lightweight_geom_data.h.

References omega, vx, and vy.

◆ operator[]() [2/2]

const double& mrpt::math::TTwist2D::operator[] ( size_t i ) const

inline

Coordinate access using operator[].

Order: vx,vy,vphi

Definition at line 2227 of file lightweight_geom_data.h.

References omega, vx, and vy.

◆ rotate()

void mrpt::math::TTwist2D::rotate ( const double ang )

Transform the (vx,vy) components for a counterclockwise rotation of ang radians.

Definition at line 140 of file lightweight_geom_data.cpp.

References vx, and vy.

Referenced by mrpt::poses::CRobot2DPoseEstimator::getCurrentEstimate(), mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentGTVelLocal(), mrpt::kinematics::CVehicleSimulVirtualBase::getCurrentOdometricVelLocal(), mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(), and mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds().

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◆ size()

static size_t mrpt::math::TTwist2D::size ( )

inlinestatic

Definition at line 2275 of file lightweight_geom_data.h.

Referenced by mrpt::math::operator<<(), and mrpt::math::operator>>().

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Member Data Documentation

◆ omega

double mrpt::math::TTwist2D::omega

Angular velocity (rad/s)

Definition at line 2202 of file lightweight_geom_data.h.

Referenced by asString(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), fromString(), getAsVector(), mrpt::kinematics::CVehicleSimul_Holo::internal_simulControlStep(), mrpt::kinematics::CVehicleSimul_DiffDriven::internal_simulControlStep(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), operator*(), operator==(), operator[](), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(), and mrpt::obs::CActionRobotMovement2D::velocityAng().

◆ vx

double mrpt::math::TTwist2D::vx

Velocity components: X,Y (m/s)

Definition at line 2200 of file lightweight_geom_data.h.

Referenced by asString(), mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), fromString(), getAsVector(), mrpt::kinematics::CVehicleSimul_Holo::internal_simulControlStep(), mrpt::kinematics::CVehicleSimul_DiffDriven::internal_simulControlStep(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), operator*(), operator==(), operator[](), rotate(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(), and mrpt::obs::CActionRobotMovement2D::velocityLin().

◆ vy

double mrpt::math::TTwist2D::vy

Definition at line 2200 of file lightweight_geom_data.h.

Referenced by asString(), mrpt::nav::CAbstractPTGBasedReactive::build_movement_candidate(), mrpt::poses::CRobot2DPoseEstimator::extrapolateRobotPose(), fromString(), getAsVector(), mrpt::kinematics::CVehicleSimul_Holo::internal_simulControlStep(), mrpt::kinematics::CVehicleSimul_DiffDriven::internal_simulControlStep(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), operator*(), operator==(), operator[](), rotate(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), and mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ TTwist2D() [1/2]

◆ TTwist2D() [2/2]

Member Function Documentation

◆ asString() [1/2]

◆ asString() [2/2]

◆ fromString()

◆ getAsVector()

◆ operator!=()

◆ operator*()

◆ operator==()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ rotate()

◆ size()

Member Data Documentation

◆ omega

◆ vx

◆ vy