Represents a pose in 2d space: (x, y, theta). More...

Public Member Functions
	Pose ()
	Default constructor - zero-initialize.

	Pose (Point position, double heading)
	Point-heading constructor.

	Pose (double x, double y, double h)
	Component-wise constructor.

	Pose (const Eigen::Vector3d &other)
	Implicit conversion from Eigen::Vector3d.

	Pose (const Pose &other)=default
	Copy-constructor - default.

Pose	withOrigin (Pose other) const
	Compute the pose specified using this pose as coordinates in a frame of reference specified by `other`, in the global space. More...

	operator Eigen::Vector3d () const
	Implicit conversion to Eigen::Vector3d.

TransformMatrix	transform () const
	Calculate a TransformMatrix corresponding to using this pose as the origin of the coordinate system.

Point &	position ()
	Accessors.

Point const &	position () const

double &	heading ()

double const &	heading () const

Pose	operator+ (const Pose &other) const
	Operators.

Pose	operator- (const Pose &other) const

Pose	operator* (double s) const

Pose	operator/ (double s) const

Pose &	operator+= (const Pose &other)

Pose &	operator-= (const Pose &other)

Pose &	*operator=** (double s)

Pose &	operator/= (double s)

Detailed Description

Represents a pose in 2d space: (x, y, theta).

Uses double-precision floating point numbers for the coordinates, and can be used to represent the position and orientation of a robot in the plane.

Member Function Documentation

Pose Geometry2d::Pose::withOrigin ( Pose other ) const

inline

Compute the pose specified using this pose as coordinates in a frame of reference specified by other, in the global space.

i.e.

x: | x | / |/ ---—|----—

| | -—|-— |\ | y

y.withOrigin(x): | x | / \ |/ y ---—|---— |

The documentation for this class was generated from the following file: