Detailed Description

Lightweight 2D pose.

Allows coordinate access using [] operator.

See also: mrpt::poses::CPose2D

Definition at line 186 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Inheritance diagram for mrpt::math::TPose2D:

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 (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...

constexpr 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...

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

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

void	normalizePhi ()
	Forces "phi" to be in the range [-pi,pi]. 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 constexpr 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 188 of file lightweight_geom_data.h.

Constructor & Destructor Documentation

◆ TPose2D() [1/5]

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

Implicit constructor from TPoint2D.

Zeroes the phi coordinate.

See also: TPoint2D

Definition at line 53 of file lightweight_geom_data.cpp.

◆ TPose2D() [2/5]

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

explicit

Constructor from TPoint3D, losing information.

Zeroes the phi coordinate.

See also: TPoint3D

Definition at line 54 of file lightweight_geom_data.cpp.

◆ TPose2D() [3/5]

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 55 of file lightweight_geom_data.cpp.

◆ TPose2D() [4/5]

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

inline

Constructor from coordinates.

Definition at line 215 of file lightweight_geom_data.h.

◆ TPose2D() [5/5]

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

inline

Default fast constructor.

Initializes to garbage.

Definition at line 221 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 56 of file lightweight_geom_data.cpp.

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

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

◆ asString() [2/2]

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

inline

Definition at line 267 of file lightweight_geom_data.h.

◆ composePoint()

mrpt::math::TPoint2D mrpt::math::TPose2D::composePoint ( const TPoint2D l ) const

inline

Definition at line 279 of file lightweight_geom_data.h.

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

Referenced by mrpt::math::TPolygon2D::createRegularPolygon(), operator+(), and mrpt::math::project2D().

◆ 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 60 of file lightweight_geom_data.cpp.

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

◆ getAsVector()

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

inline

Transformation into vector.

Definition at line 255 of file lightweight_geom_data.h.

References phi, x, and y.

◆ inverseComposePoint()

mrpt::math::TPoint2D mrpt::math::TPose2D::inverseComposePoint ( const TPoint2D g ) const

inline

Definition at line 290 of file lightweight_geom_data.h.

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

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

◆ norm()

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

inline

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

Definition at line 298 of file lightweight_geom_data.h.

References mrpt::hypot_fast().

◆ normalizePhi()

void mrpt::math::TPose2D::normalizePhi ( )

inline

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

Definition at line 300 of file lightweight_geom_data.h.

References phi, and mrpt::math::wrapToPi().

◆ operator+() [1/2]

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 71 of file lightweight_geom_data.cpp.

References mrpt::math::wrapToPi().

◆ operator+() [2/2]

mrpt::math::TPoint2D mrpt::math::TPose2D::operator+ ( const mrpt::math::TPoint2D & b ) const

inline

Definition at line 285 of file lightweight_geom_data.h.

References composePoint().

◆ 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 83 of file lightweight_geom_data.cpp.

References mrpt::math::wrapToPi().

◆ operator[]() [1/2]

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

inline

Coordinate access using operator[].

Order: x,y,phi

Definition at line 223 of file lightweight_geom_data.h.

References phi, x, and y.

◆ operator[]() [2/2]

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

inline

Coordinate access using operator[].

Order: x,y,phi

Definition at line 238 of file lightweight_geom_data.h.

References phi, x, and y.

◆ size()

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

inlinestatic

Definition at line 309 of file lightweight_geom_data.h.

Referenced by mrpt::maps::COccupancyGridMap2D::determineMatching2D().

Member Data Documentation

◆ phi

double mrpt::math::TPose2D::phi

Orientation (rads)

Definition at line 195 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(), mrpt::math::TLine2D::getAsPose2D(), mrpt::math::TLine2D::getAsPose2DForcingOrigin(), 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::slam::KLF_loadBinFromParticle(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), normalizePhi(), mrpt::math::operator!=(), mrpt::math::operator==(), operator[](), mrpt::math::project2D(), mrpt::nav::CParameterizedTrajectoryGenerator::saveToConfigFile(), mrpt::tfest::se2_l2(), mrpt::kinematics::CVehicleSimul_Holo::sendVelCmd(), mrpt::kinematics::CVehicleSimulVirtualBase::simulateOneTimeStep(), mrpt::nav::PlannerRRT_SE2_TPS::solve(), TEST(), mrpt::nav::CAbstractNavigator::updateCurrentPoseAndSpeeds(), and mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().

◆ x

double mrpt::math::TPose2D::x

X,Y coordinates.

Definition at line 193 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(), mrpt::math::TLine2D::getAsPose2D(), getAsVector(), mrpt::hwdrivers::CRovio::getPosition(), mrpt::hwdrivers::CRovio::getRovioState(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), inverseComposePoint(), mrpt::slam::KLF_loadBinFromParticle(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), mrpt::math::operator!=(), mrpt::math::operator==(), operator[](), mrpt::math::project2D(), 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 193 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(), mrpt::math::TLine2D::getAsPose2D(), getAsVector(), mrpt::hwdrivers::CRovio::getPosition(), mrpt::slam::CICP::ICP_Method_Classic(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), inverseComposePoint(), mrpt::slam::KLF_loadBinFromParticle(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), mrpt::nav::CParameterizedTrajectoryGenerator::loadFromConfigFile(), mrpt::math::operator!=(), mrpt::math::operator==(), operator[](), mrpt::math::project2D(), 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() [1/5]

◆ TPose2D() [2/5]

◆ TPose2D() [3/5]

◆ TPose2D() [4/5]

◆ TPose2D() [5/5]

Member Function Documentation

◆ asString() [1/2]

◆ asString() [2/2]

◆ composePoint()

◆ fromString()

◆ getAsVector()

◆ inverseComposePoint()

◆ norm()

◆ normalizePhi()

◆ operator+() [1/2]

◆ operator+() [2/2]

◆ operator-()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ size()

Member Data Documentation

◆ phi

◆ x

◆ y