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.
#include <mrpt/poses/CPose2D.h>
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. More... | |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) throw () |
void | operator delete[] (void *ptr) throw () |
void | operator delete (void *memory, void *ptr) throw () |
void * | operator new (size_t size, const std::nothrow_t &) throw () |
void | operator delete (void *ptr, const std::nothrow_t &) throw () |
CPose2D () | |
Default constructor (all coordinates to 0) More... | |
CPose2D (const double x, const double y, const double phi) | |
Constructor from an initial value of the pose. More... | |
CPose2D (const CPoint2D &) | |
Constructor from a CPoint2D object. More... | |
CPose2D (const CPose3D &) | |
Aproximation!! Avoid its use, since information is lost. More... | |
CPose2D (const mrpt::math::TPose2D &) | |
Constructor from lightweight object. More... | |
CPose2D (const CPoint3D &) | |
Constructor from CPoint3D with information loss. More... | |
CPose2D (TConstructorFlags_Poses) | |
Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument. More... | |
const double & | phi () const |
Get the phi angle of the 2D pose (in radians) More... | |
double & | phi () |
double | phi_cos () const |
Get a (cached) value of cos(phi), recomputing it only once when phi changes. More... | |
double | phi_sin () const |
Get a (cached) value of sin(phi), recomputing it only once when phi changes. More... | |
void | phi (double angle) |
Set the phi angle of the 2D pose (in radians) More... | |
void | phi_incr (const double Aphi) |
Increment the PHI angle (without checking the 2 PI range, call normalizePhi is needed) More... | |
void | getAsVector (mrpt::math::CVectorDouble &v) const |
Returns a 1x3 vector with [x y phi]. More... | |
void | getAsVector (mrpt::math::CArrayDouble< 3 > &v) const |
void | getHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More... | |
void | getRotationMatrix (mrpt::math::CMatrixDouble22 &R) const |
Returns the SE(2) 2x2 rotation matrix. More... | |
void | getRotationMatrix (mrpt::math::CMatrixDouble33 &R) const |
Returns the equivalent SE(3) 3x3 rotation matrix, with (2,2)=1. More... | |
mrpt::math::CMatrixDouble22 | getRotationMatrix () const |
CPose2D | operator+ (const CPose2D &D) const |
The operator ![]() | |
void | composeFrom (const CPose2D &A, const CPose2D &B) |
Makes ![]() | |
CPose3D | operator+ (const CPose3D &D) const |
The operator ![]() | |
CPoint2D | operator+ (const CPoint2D &u) const |
The operator ![]() | |
void | composePoint (double lx, double ly, double &gx, double &gy) const |
An alternative, slightly more efficient way of doing ![]() | |
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 ![]() | |
void | inverseComposeFrom (const CPose2D &A, const CPose2D &B) |
Makes ![]() | |
void | inverse () |
Convert this pose into its inverse, saving the result in itself. More... | |
CPose2D | operator- (const CPose2D &b) const |
Compute ![]() | |
CPose3D | operator- (const CPose3D &b) const |
The operator ![]() | |
void | AddComponents (CPose2D &p) |
Scalar sum of components: This is diferent from poses composition, which is implemented as "+" operators in "CPose" derived classes. More... | |
void | operator*= (const double s) |
Scalar multiplication. More... | |
CPose2D & | operator+= (const CPose2D &b) |
Make ![]() | |
void | normalizePhi () |
Forces "phi" to be in the range [-pi,pi];. 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 |
void | fromString (const std::string &s) |
Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" ) More... | |
const double & | operator[] (unsigned int i) const |
double & | operator[] (unsigned int i) |
void | changeCoordinatesReference (const CPose2D &p) |
makes: this = p (+) this More... | |
double | distance2DFrobeniusTo (const CPose2D &p) const |
Returns the 2D distance from this pose/point to a 2D pose using the Frobenius distance. More... | |
const type_value & | getPoseMean () const |
type_value & | getPoseMean () |
void | setToNaN () MRPT_OVERRIDE |
Set all data fields to quiet NaN. More... | |
virtual mxArray * | writeToMatlab () const |
Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More... | |
mrpt::utils::CObjectPtr | duplicateGetSmartPtr () const |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
CObject * | clone () const |
Cloning interface for smart pointers. More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
static bool | is_3D () |
static bool | is_PDF () |
Public Attributes | |
mrpt::math::CArrayDouble< 2 > | m_coords |
[x,y] More... | |
Static Public Attributes | |
static const mrpt::utils::TRuntimeClassId | classCObject |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
void | update_cached_cos_sin () const |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
void | readFromStream (mrpt::utils::CStream &in, int version) |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More... | |
Protected Attributes | |
double | m_phi |
The orientation of the pose, in radians. More... | |
double | m_cosphi |
double | m_sinphi |
Precomputed cos() & sin() of phi. More... | |
bool | m_cossin_uptodate |
RTTI stuff | |
typedef CPose2DPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CPose2D |
static mrpt::utils::TRuntimeClassId | classCPose2D |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static CPose2DPtr | Create () |
STL-like methods and typedefs | |
enum | { static_size = 3 } |
typedef double | value_type |
The type of the elements. More... | |
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) |
double | x () const |
Common members of all points & poses classes. More... | |
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) |
double | sqrDistanceTo (const CPoseOrPoint< OTHERCLASS > &b) const |
Returns the squared euclidean distance to another pose/point: More... | |
double | distanceTo (const CPoseOrPoint< OTHERCLASS > &b) const |
Returns the Euclidean distance to another pose/point: More... | |
double | distanceTo (const mrpt::math::TPoint3D &b) const |
Returns the euclidean distance to a 3D point: More... | |
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). More... | |
double | distance3DToSquare (double ax, double ay, double az) const |
Returns the squared 3D distance from this pose/point to a 3D point. More... | |
double | distance2DTo (double ax, double ay) const |
Returns the 2D distance from this pose/point to a 2D point (ignores Z, if it exists). More... | |
double | distance3DTo (double ax, double ay, double az) const |
Returns the 3D distance from this pose/point to a 3D point. More... | |
double | norm () const |
Returns the euclidean norm of vector: ![]() | |
mrpt::math::CVectorDouble | getAsVectorVal () const |
Return the pose or point as a 1xN vector with all the components (see derived classes for each implementation) More... | |
mrpt::math::CMatrixDouble44 | getHomogeneousMatrixVal () const |
Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). More... | |
void | getInverseHomogeneousMatrix (mrpt::math::CMatrixDouble44 &out_HM) const |
Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose. More... | |
mrpt::math::CMatrixDouble44 | getInverseHomogeneousMatrix () const |
static bool | is3DPoseOrPoint () |
Return true for poses or points with a Z component, false otherwise. More... | |
typedef const double& mrpt::poses::CPose2D::const_reference |
typedef std::ptrdiff_t mrpt::poses::CPose2D::difference_type |
typedef double& mrpt::poses::CPose2D::reference |
typedef std::size_t mrpt::poses::CPose2D::size_type |
typedef CPose2DPtr mrpt::poses::CPose2D::SmartPtr |
Used to emulate CPosePDF types, for example, in mrpt::graphs::CNetworkOfPoses.
typedef double mrpt::poses::CPose2D::value_type |
mrpt::poses::CPose2D::CPose2D | ( | ) |
Default constructor (all coordinates to 0)
mrpt::poses::CPose2D::CPose2D | ( | const double | x, |
const double | y, | ||
const double | phi | ||
) |
Constructor from an initial value of the pose.
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explicit |
Aproximation!! Avoid its use, since information is lost.
mrpt::poses::CPose2D::CPose2D | ( | const mrpt::math::TPose2D & | ) |
Constructor from lightweight object.
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Constructor from CPoint3D with information loss.
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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.
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)
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Makes .
void mrpt::poses::CPose2D::composePoint | ( | double | lx, |
double | ly, | ||
double & | gx, | ||
double & | gy | ||
) | const |
An alternative, slightly more efficient way of doing with G and L being 2D points and P this 2D pose.
void mrpt::poses::CPose2D::composePoint | ( | const mrpt::math::TPoint2D & | l, |
mrpt::math::TPoint2D & | g | ||
) | const |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
void mrpt::poses::CPose2D::composePoint | ( | const mrpt::math::TPoint3D & | l, |
mrpt::math::TPoint3D & | g | ||
) | const |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
void mrpt::poses::CPose2D::composePoint | ( | double | lx, |
double | ly, | ||
double | lz, | ||
double & | gx, | ||
double & | gy, | ||
double & | gz | ||
) | const |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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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.
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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.
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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.
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Returns the 3D distance from this pose/point to a 3D point.
Definition at line 168 of file CPoseOrPoint.h.
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Returns the squared 3D distance from this pose/point to a 3D point.
Definition at line 159 of file CPoseOrPoint.h.
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Returns the Euclidean distance to another pose/point:
Definition at line 150 of file CPoseOrPoint.h.
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Returns the euclidean distance to a 3D point:
Definition at line 171 of file CPoseOrPoint.h.
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Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
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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]" )
std::exception | On invalid format |
void mrpt::poses::CPose2D::getAsVector | ( | mrpt::math::CVectorDouble & | v | ) | const |
Returns a 1x3 vector with [x y phi].
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.
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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.
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).
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Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
Definition at line 191 of file CPoseOrPoint.h.
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Returns the corresponding 4x4 inverse homogeneous transformation matrix for this point or pose.
Definition at line 201 of file CPoseOrPoint.h.
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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.
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void mrpt::poses::CPose2D::getRotationMatrix | ( | mrpt::math::CMatrixDouble22 & | R | ) | const |
Returns the SE(2) 2x2 rotation matrix.
void mrpt::poses::CPose2D::getRotationMatrix | ( | mrpt::math::CMatrixDouble33 & | R | ) | const |
Returns the equivalent SE(3) 3x3 rotation matrix, with (2,2)=1.
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Definition at line 111 of file CPose2D.h.
References mrpt::math::UNINITIALIZED_MATRIX.
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Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
void mrpt::poses::CPose2D::inverse | ( | ) |
Convert this pose into its inverse, saving the result in itself.
Makes this method is slightly more efficient than "this= A - B;" since it avoids the temporary object.
Referenced by mrpt::nav::PoseDistanceMetric< TNodeSE2_TP >::distance(), and operator-().
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inlinestaticinherited |
Return true for poses or points with a Z component, false otherwise.
Definition at line 127 of file CPoseOrPoint.h.
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inlinestatic |
Definition at line 246 of file CPose2D.h.
References static_size.
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Returns the euclidean norm of vector: .
Definition at line 174 of file CPoseOrPoint.h.
void mrpt::poses::CPose2D::normalizePhi | ( | ) |
Forces "phi" to be in the range [-pi,pi];.
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void mrpt::poses::CPose2D::operator*= | ( | const double | s | ) |
Scalar multiplication.
The operator is the pose compounding operator.
The operator is the pose compounding operator.
The operator is the pose/point compounding operator.
The operator is the pose/point compounding operator.
Compute .
Definition at line 154 of file CPose2D.h.
References inverseComposeFrom(), and mrpt::poses::UNINITIALIZED_POSE.
The operator is the pose inverse compounding operator.
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Get the phi angle of the 2D pose (in radians)
Definition at line 84 of file CPose2D.h.
Referenced by mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist(), mrpt::poses::SE_traits< 2 >::exp(), mrpt::utils::CRobotSimulator::getPHI(), mrpt::poses::SE_traits< 2 >::ln(), mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line(), and mrpt::graphs::detail::graph_ops< graph_t >::write_VERTEX_line().
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Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
in | The input binary stream where the object data must read from. |
version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
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inlinestatic |
Definition at line 247 of file CPose2D.h.
References mrpt::format(), and static_size.
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Set all data fields to quiet NaN.
Implements mrpt::poses::CPoseOrPoint< CPose2D >.
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inlinestatic |
Definition at line 244 of file CPose2D.h.
References static_size.
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Returns the squared euclidean distance to another pose/point:
Definition at line 130 of file CPoseOrPoint.h.
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inlinevirtualinherited |
Introduces a pure virtual method responsible for writing to a mxArray
Matlab object, typically a MATLAB struct
whose contents are documented in each derived class.
mxArray
(caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB. Definition at line 79 of file CSerializable.h.
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protectedvirtual |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
out | The output binary stream where object must be dumped. |
getVersion | If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
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inlineinherited |
Common members of all points & poses classes.
< Get X coord.
Definition at line 113 of file CPoseOrPoint.h.
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Definition at line 116 of file CPoseOrPoint.h.
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v | Set X coord. |
Definition at line 119 of file CPoseOrPoint.h.
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v | X+=v |
Definition at line 122 of file CPoseOrPoint.h.
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< Get Y coord.
Definition at line 114 of file CPoseOrPoint.h.
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Definition at line 117 of file CPoseOrPoint.h.
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v | Set Y coord. |
Definition at line 120 of file CPoseOrPoint.h.
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v | Y+=v |
Definition at line 123 of file CPoseOrPoint.h.
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Definition at line 42 of file CSerializable.h.
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mrpt::math::CArrayDouble<2> mrpt::poses::CPose2D::m_coords |
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