mrpt::math::TTwist2D Struct Reference

Detailed Description

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

See also

mrpt::math::TTwist3D, mrpt::math::TPose2D

Definition at line 2145 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Public Types
enum	{ static_size = 3 }

Public Member Functions
constexpr	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...
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	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 2147 of file lightweight_geom_data.h.

Constructor & Destructor Documentation

TTwist2D() [1/2]

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

inlineconstexpr

Constructor from components.

Definition at line 2157 of file lightweight_geom_data.h.

TTwist2D() [2/2]

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

inline

Default fast constructor.

Initializes to garbage

Definition at line 2162 of file lightweight_geom_data.h.

Member Function Documentation

asString() [1/2]

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

inline

Definition at line 2214 of file lightweight_geom_data.h.

asString() [2/2]

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 100 of file lightweight_geom_data.cpp.

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

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 104 of file lightweight_geom_data.cpp.

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

getAsVector()

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

inline

Transformation into vector.

Definition at line 2194 of file lightweight_geom_data.h.

References omega, vx, and vy.

operator!=()

bool mrpt::math::TTwist2D::operator!=

(

const TTwist2D &

o

)

const

Definition at line 128 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 129 of file lightweight_geom_data.cpp.

References omega, vx, and vy.

operator==()

bool mrpt::math::TTwist2D::operator==

(

const TTwist2D &

o

)

const

Definition at line 124 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 2164 of file lightweight_geom_data.h.

References omega, vx, and vy.

operator[]() [2/2]

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

inlineconstexpr

Coordinate access using operator[].

Order: vx,vy,vphi

Definition at line 2179 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 117 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().

size()

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

inlinestatic

Definition at line 2227 of file lightweight_geom_data.h.

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

Member Data Documentation

omega

double mrpt::math::TTwist2D::omega

Angular velocity (rad/s)

Definition at line 2154 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 2152 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 2152 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().