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mrpt::poses::CPose2D Class Reference

Detailed Description

A class used to store a 2D pose.

A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle.

For a complete description of Points/Poses, see mrpt::poses::CPoseOrPoint, or refer to the 2D/3D Geometry tutorial in the wiki.

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 36 of file CPose2D.h.

#include <mrpt/poses/CPose2D.h>

Inheritance diagram for mrpt::poses::CPose2D:
Inheritance graph

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.
 

Public Member Functions

 CPose2D ()
 Default constructor (all coordinates to 0)
 
 CPose2D (const double x, const double y, const double phi)
 Constructor from an initial value of the pose.
 
 CPose2D (const CPoint2D &)
 Constructor from a CPoint2D object.
 
 CPose2D (const CPose3D &)
 Aproximation!! Avoid its use, since information is lost.
 
 CPose2D (const mrpt::math::TPose2D &)
 Constructor from lightweight object.
 
 CPose2D (const CPoint3D &)
 Constructor from CPoint3D with information loss.
 
 CPose2D (TConstructorFlags_Poses)
 Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument.
 
const double & phi () const
 Get the phi angle of the 2D pose (in radians)
 
double & phi ()
 This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
 
double phi_cos () const
 Get a (cached) value of cos(phi), recomputing it only once when phi changes.
 
double phi_sin () const
 Get a (cached) value of sin(phi), recomputing it only once when phi changes.
 
void phi (double angle)
 Set the phi angle of the 2D pose (in radians)
 
void phi_incr (const double Aphi)
 Increment the PHI angle (without checking the 2 PI range, call normalizePhi is needed)
 
void getAsVector (mrpt::math::CVectorDouble &v) const
 Returns a 1x3 vector with [x y phi].
 
void 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.
 
void getHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const
 Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
 
void getRotationMatrix (mrpt::math::CMatrixDouble22 &R) const
 Returns the SE(2) 2x2 rotation matrix.
 
void getRotationMatrix (mrpt::math::CMatrixDouble33 &R) const
 Returns the equivalent SE(3) 3x3 rotation matrix, with (2,2)=1.
 
mrpt::math::CMatrixDouble22 getRotationMatrix () const
 
CPose2D operator+ (const CPose2D &D) const
 The operator $ a = this \oplus D $ is the pose compounding operator.
 
void composeFrom (const CPose2D &A, const CPose2D &B)
 Makes $ this = A \oplus B $.
 
CPose3D operator+ (const CPose3D &D) const
 The operator $ a = this \oplus D $ is the pose compounding operator.
 
CPoint2D operator+ (const CPoint2D &u) const
 The operator $ u' = this \oplus u $ is the pose/point compounding operator.
 
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.
 
void composePoint (const mrpt::math::TPoint2D &l, mrpt::math::TPoint2D &g) const
 
void composePoint (const mrpt::math::TPoint3D &l, mrpt::math::TPoint3D &g) const
 
void composePoint (double lx, double ly, double lz, double &gx, double &gy, double &gz) const
 
CPoint3D operator+ (const CPoint3D &u) const
 The operator $ u' = this \oplus u $ is the pose/point compounding operator.
 
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.
 
void inverse ()
 Convert this pose into its inverse, saving the result in itself.
 
CPose2D operator- (const CPose2D &b) const
 Compute $ RET = this \oplus b $

 
CPose3D operator- (const CPose3D &b) const
 The operator $ a \ominus b $ is the pose inverse compounding operator.
 
void AddComponents (CPose2D &p)
 Scalar sum of components: This is diferent from poses composition, which is implemented as "+" operators in "CPose" derived classes.
 
void operator*= (const double s)
 Scalar multiplication.
 
CPose2Doperator+= (const CPose2D &b)
 Make $ this = this \oplus b $

 
void normalizePhi ()
 Forces "phi" to be in the range [-pi,pi];.
 
void asString (std::string &s) const
 Returns a human-readable textual representation of the object (eg: "[x y yaw]", yaw in degrees)
 
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]" )
 
const double & operator[] (unsigned int i) const
 
double & operator[] (unsigned int i)
 
void changeCoordinatesReference (const CPose2D &p)
 makes: this = p (+) this
 
double distance2DFrobeniusTo (const CPose2D &p) const
 Returns the 2D distance from this pose/point to a 2D pose using the Frobenius distance.
 
const type_valuegetPoseMean () const
 
type_valuegetPoseMean ()
 
void setToNaN () MRPT_OVERRIDE
 Set all data fields to quiet NaN.
 

Static Public Member Functions

static bool is_3D ()
 
static bool is_PDF ()
 

Public Attributes

mrpt::math::CArrayDouble< 2 > m_coords
 [x,y]
 

Protected Member Functions

void update_cached_cos_sin () const
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
 
void readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE
 

Protected Attributes

double m_phi
 The orientation of the pose, in radians.
 
double m_cosphi
 
double m_sinphi
 Precomputed cos() & sin() of phi.
 
bool m_cossin_uptodate
 

STL-like methods and typedefs


enum  { static_size = 3 }
 
typedef double value_type
 The type of the elements.
 
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)
 

RTTI stuff <br>

typedef CPose2DPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CPose2D
 
static mrpt::utils::TRuntimeClassId classCPose2D
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const MRPT_OVERRIDE
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 
static mrpt::utils::CObjectCreateObject ()
 
static CPose2DPtr Create ()
 
double x () const
 Common members of all points & poses classes.
 
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)
 
template<class OTHERCLASS >
double sqrDistanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
 Returns the squared euclidean distance to another pose/point:
 
template<class OTHERCLASS >
double distanceTo (const CPoseOrPoint< OTHERCLASS > &b) const
 Returns the Euclidean distance to another pose/point:
 
double distanceTo (const mrpt::math::TPoint3D &b) const
 Returns the euclidean distance to a 3D point:
 
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).
 
double distance3DToSquare (double ax, double ay, double az) const
 Returns the squared 3D distance from this pose/point to a 3D point.
 
double distance2DTo (double ax, double ay) const
 Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists).
 
double distance3DTo (double ax, double ay, double az) const
 Returns the 3D distance from this pose/point to a 3D point.
 
double norm () const
 Returns the euclidean norm of vector: $ ||\mathbf{x}|| = \sqrt{x^2+y^2+z^2} $.
 
mrpt::math::CVectorDouble getAsVectorVal () const
 Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation)
 
mrpt::math::CMatrixDouble44 getHomogeneousMatrixVal () const
 Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
 
void getInverseHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const
 Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose.
 
mrpt::math::CMatrixDouble44 getInverseHomogeneousMatrix () const
 This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
 
static bool is3DPoseOrPoint ()
 Return true for poses or points with a Z component, false otherwise.
 

Member Typedef Documentation

◆ const_reference

Definition at line 238 of file CPose2D.h.

◆ difference_type

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

Definition at line 240 of file CPose2D.h.

◆ reference

Definition at line 237 of file CPose2D.h.

◆ size_type

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

Definition at line 239 of file CPose2D.h.

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 40 of file CPose2D.h.

◆ type_value

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

Definition at line 222 of file CPose2D.h.

◆ value_type

The type of the elements.

Definition at line 236 of file CPose2D.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
Enumerator
is_3D_val 

Definition at line 223 of file CPose2D.h.

◆ anonymous enum

anonymous enum
Enumerator
rotation_dimensions 

Definition at line 225 of file CPose2D.h.

◆ anonymous enum

anonymous enum
Enumerator
is_PDF_val 

Definition at line 226 of file CPose2D.h.

◆ anonymous enum

anonymous enum
Enumerator
static_size 

Definition at line 243 of file CPose2D.h.

Constructor & Destructor Documentation

◆ CPose2D() [1/7]

mrpt::poses::CPose2D::CPose2D ( )

Default constructor (all coordinates to 0)

◆ CPose2D() [2/7]

mrpt::poses::CPose2D::CPose2D ( const double  x,
const double  y,
const double  phi 
)

Constructor from an initial value of the pose.

◆ CPose2D() [3/7]

mrpt::poses::CPose2D::CPose2D ( const CPoint2D )

Constructor from a CPoint2D object.

◆ CPose2D() [4/7]

mrpt::poses::CPose2D::CPose2D ( const CPose3D )
explicit

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

◆ CPose2D() [5/7]

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

Constructor from lightweight object.

◆ CPose2D() [6/7]

mrpt::poses::CPose2D::CPose2D ( const CPoint3D )
explicit

Constructor from CPoint3D with information loss.

◆ 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 81 of file CPose2D.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::poses::CPose2D::_GetBaseClass ( )
staticprotected

◆ AddComponents()

void mrpt::poses::CPose2D::AddComponents ( CPose2D p)

Scalar sum of components: This is diferent from poses composition, which is implemented as "+" operators in "CPose" derived classes.

◆ asString() [1/2]

std::string mrpt::poses::CPose2D::asString ( ) const
inline

Definition at line 185 of file CPose2D.h.

References asString().

Referenced by asString().

◆ asString() [2/2]

void mrpt::poses::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

◆ changeCoordinatesReference()

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

makes: this = p (+) this

Definition at line 217 of file CPose2D.h.

◆ composeFrom()

void mrpt::poses::CPose2D::composeFrom ( const CPose2D A,
const CPose2D B 
)

Makes $ this = A \oplus B $.

Note
A or B can be "this" without problems.

◆ composePoint() [1/4]

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

◆ composePoint() [2/4]

void mrpt::poses::CPose2D::composePoint ( const mrpt::math::TPoint3D l,
mrpt::math::TPoint3D g 
) const

◆ composePoint() [3/4]

void mrpt::poses::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.


◆ composePoint() [4/4]

void mrpt::poses::CPose2D::composePoint ( double  lx,
double  ly,
double  lz,
double &  gx,
double &  gy,
double &  gz 
) const

◆ Create()

static CPose2DPtr mrpt::poses::CPose2D::Create ( )
static

◆ CreateObject()

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

◆ distance2DFrobeniusTo()

double mrpt::poses::CPose2D::distance2DFrobeniusTo ( const CPose2D p) const

Returns the 2D distance from this pose/point to a 2D pose using the Frobenius distance.

◆ distance2DTo()

template<class DERIVEDCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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 165 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance2DToSquare().

◆ distance2DToSquare()

template<class DERIVEDCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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 156 of file CPoseOrPoint.h.

References mrpt::utils::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance2DTo().

◆ distance3DTo()

template<class DERIVEDCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DTo ( double  ax,
double  ay,
double  az 
) const
inlineinherited

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

Definition at line 168 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DToSquare().

Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo().

◆ distance3DToSquare()

template<class DERIVEDCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DToSquare ( double  ax,
double  ay,
double  az 
) const
inlineinherited

◆ distanceTo() [1/2]

template<class DERIVEDCLASS >
template<class OTHERCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo ( const CPoseOrPoint< OTHERCLASS > &  b) const
inlineinherited

Returns the Euclidean distance to another pose/point:

Definition at line 150 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::sqrDistanceTo().

◆ distanceTo() [2/2]

template<class DERIVEDCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo ( const mrpt::math::TPoint3D b) const
inlineinherited

Returns the euclidean distance to a 3D point:

Definition at line 171 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DTo(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ duplicate()

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

◆ empty()

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

Definition at line 245 of file CPose2D.h.

◆ fromString()

void mrpt::poses::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::exceptionOn invalid format

◆ getAsVector() [1/2]

void mrpt::poses::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.

◆ getAsVector() [2/2]

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

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

◆ getAsVectorVal()

template<class DERIVEDCLASS >
mrpt::math::CVectorDouble mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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 181 of file CPoseOrPoint.h.

◆ getHomogeneousMatrix()

void mrpt::poses::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

◆ getHomogeneousMatrixVal()

template<class DERIVEDCLASS >
mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getHomogeneousMatrixVal ( ) const
inlineinherited

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

See also
getInverseHomogeneousMatrix

Definition at line 191 of file CPoseOrPoint.h.

References mrpt::math::UNINITIALIZED_MATRIX.

◆ getInverseHomogeneousMatrix() [1/2]

template<class DERIVEDCLASS >
mrpt::math::CMatrixDouble44 mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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 208 of file CPoseOrPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix(), and mrpt::math::UNINITIALIZED_MATRIX.

Referenced by mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix().

◆ getInverseHomogeneousMatrix() [2/2]

template<class DERIVEDCLASS >
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::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 201 of file CPoseOrPoint.h.

References mrpt::math::homogeneousMatrixInverse().

◆ getPoseMean() [1/2]

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

Definition at line 230 of file CPose2D.h.

◆ getPoseMean() [2/2]

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

Definition at line 229 of file CPose2D.h.

◆ getRotationMatrix() [1/3]

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

Definition at line 111 of file CPose2D.h.

References mrpt::math::UNINITIALIZED_MATRIX.

◆ getRotationMatrix() [2/3]

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

Returns the SE(2) 2x2 rotation matrix.

◆ getRotationMatrix() [3/3]

void mrpt::poses::CPose2D::getRotationMatrix ( mrpt::math::CMatrixDouble33 R) const

Returns the equivalent SE(3) 3x3 rotation matrix, with (2,2)=1.

◆ GetRuntimeClass()

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

◆ inverse()

void mrpt::poses::CPose2D::inverse ( )

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

See also
operator-

◆ inverseComposeFrom()

void mrpt::poses::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

Referenced by mrpt::nav::PoseDistanceMetric< TNodeSE2_TP >::distance(), and operator-().

◆ is3DPoseOrPoint()

template<class DERIVEDCLASS >
static bool mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::is3DPoseOrPoint ( )
inlinestaticinherited

◆ is_3D()

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

Definition at line 224 of file CPose2D.h.

◆ is_PDF()

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

Definition at line 227 of file CPose2D.h.

◆ max_size()

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

Definition at line 246 of file CPose2D.h.

References static_size.

◆ norm()

template<class DERIVEDCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm ( ) const
inlineinherited

◆ normalizePhi()

void mrpt::poses::CPose2D::normalizePhi ( )

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

◆ operator*=()

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

Scalar multiplication.

◆ operator+() [1/4]

CPoint2D mrpt::poses::CPose2D::operator+ ( const CPoint2D u) const

The operator $ u' = this \oplus u $ is the pose/point compounding operator.


◆ operator+() [2/4]

CPoint3D mrpt::poses::CPose2D::operator+ ( const CPoint3D u) const

The operator $ u' = this \oplus u $ is the pose/point compounding operator.

◆ operator+() [3/4]

CPose2D mrpt::poses::CPose2D::operator+ ( const CPose2D D) const

The operator $ a = this \oplus D $ is the pose compounding operator.

◆ operator+() [4/4]

CPose3D mrpt::poses::CPose2D::operator+ ( const CPose3D D) const

The operator $ a = this \oplus D $ is the pose compounding operator.

◆ operator+=()

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

Make $ this = this \oplus b $

◆ operator-() [1/2]

CPose2D mrpt::poses::CPose2D::operator- ( const CPose2D b) const
inline

Compute $ RET = this \oplus b $

Definition at line 154 of file CPose2D.h.

References inverseComposeFrom(), and mrpt::poses::UNINITIALIZED_POSE.

◆ operator-() [2/2]

CPose3D mrpt::poses::CPose2D::operator- ( const CPose3D b) const

The operator $ a \ominus b $ is the pose inverse compounding operator.

◆ operator[]() [1/2]

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

Definition at line 204 of file CPose2D.h.

◆ operator[]() [2/2]

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

Definition at line 193 of file CPose2D.h.

◆ phi() [1/3]

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 86 of file CPose2D.h.

◆ phi() [2/3]

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

◆ phi() [3/3]

void mrpt::poses::CPose2D::phi ( double  angle)
inline

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

Definition at line 94 of file CPose2D.h.

◆ 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 89 of file CPose2D.h.

◆ 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 96 of file CPose2D.h.

◆ 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 91 of file CPose2D.h.

◆ readFromStream()

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

◆ resize()

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

Definition at line 247 of file CPose2D.h.

References mrpt::format(), and static_size.

◆ setToNaN()

void mrpt::poses::CPose2D::setToNaN ( )
virtual

Set all data fields to quiet NaN.

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

◆ size()

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

Definition at line 244 of file CPose2D.h.

References static_size.

◆ sqrDistanceTo()

template<class DERIVEDCLASS >
template<class OTHERCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::sqrDistanceTo ( const CPoseOrPoint< OTHERCLASS > &  b) const
inlineinherited

◆ update_cached_cos_sin()

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

Definition at line 50 of file CPose2D.h.

◆ writeToStream()

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

◆ x() [1/3]

template<class DERIVEDCLASS >
double & mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x ( )
inlineinherited

Definition at line 116 of file CPoseOrPoint.h.

◆ x() [2/3]

template<class DERIVEDCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x ( ) const
inlineinherited

◆ x() [3/3]

template<class DERIVEDCLASS >
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x ( const double  v)
inlineinherited
Parameters
vSet X coord.

Definition at line 119 of file CPoseOrPoint.h.

◆ x_incr()

template<class DERIVEDCLASS >
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x_incr ( const double  v)
inlineinherited
Parameters
vX+=v

Definition at line 122 of file CPoseOrPoint.h.

◆ y() [1/3]

template<class DERIVEDCLASS >
double & mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y ( )
inlineinherited

Definition at line 117 of file CPoseOrPoint.h.

◆ y() [2/3]

template<class DERIVEDCLASS >
double mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y ( ) const
inlineinherited

◆ y() [3/3]

template<class DERIVEDCLASS >
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y ( const double  v)
inlineinherited
Parameters
vSet Y coord.

Definition at line 120 of file CPoseOrPoint.h.

◆ y_incr()

template<class DERIVEDCLASS >
void mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y_incr ( const double  v)
inlineinherited
Parameters
vY+=v

Definition at line 123 of file CPoseOrPoint.h.

Member Data Documentation

◆ _init_CPose2D

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

Definition at line 40 of file CPose2D.h.

◆ classCPose2D

mrpt::utils::TRuntimeClassId mrpt::poses::CPose2D::classCPose2D
static

Definition at line 40 of file CPose2D.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose2D::classinfo
static

Definition at line 40 of file CPose2D.h.

◆ m_coords

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

[x,y]

Definition at line 43 of file CPose2D.h.

◆ m_cosphi

double mrpt::poses::CPose2D::m_cosphi
mutableprotected

Definition at line 47 of file CPose2D.h.

◆ m_cossin_uptodate

bool mrpt::poses::CPose2D::m_cossin_uptodate
mutableprotected

Definition at line 48 of file CPose2D.h.

◆ m_phi

double mrpt::poses::CPose2D::m_phi
protected

The orientation of the pose, in radians.

Definition at line 46 of file CPose2D.h.

◆ m_sinphi

double mrpt::poses::CPose2D::m_sinphi
protected

Precomputed cos() & sin() of phi.

Definition at line 47 of file CPose2D.h.




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