Geometry2d::Twist Class Reference

Represents a differential (velocity, acceleration, etc.) in 2d space: (dx, dy, dh). More...

Public Member Functions
	Twist ()
	Default constructor - zero-initialize.
	Twist (const Point &linear, double angular)
	Linear+angular terms.
	Twist (double dx, double dy, double dh)
	Component-wise constructor.
	Twist (const Eigen::Vector3d &other)
	Implicit conversion from Eigen::Vector3d.
	Twist (const Twist &other)=default
	Copy-constructor - default.
	operator Eigen::Vector3d () const
	Implicit conversion to Eigen::Vector3d.
Point &	linear ()
	Accessors.
Point const &	linear () const
double &	angular ()
double const &	angular () const
Pose	deltaFixed (double t) const
	Find the resulting pose (delta) of an object starting at the origin and continuing with constant (world-space) velocity for the specified time (in seconds). More...
Pose	deltaRelative (double t) const
	Find the resulting pose (delta) of an object starting at the origin and continuing with constant (local) velocity for the specified time (in seconds). More...
double	curvature () const
Twist	operator+ (const Twist &other) const
	Operators.
Twist	operator- (const Twist &other) const
Twist	operator* (double s) const
Twist	operator/ (double s) const
Twist &	operator+= (const Twist &other)
Twist &	operator-= (const Twist &other)
Twist &	operator*= (double s)
Twist &	operator/= (double s)

Static Public Member Functions
static Twist	Zero ()
	Zero.

Detailed Description

Represents a differential (velocity, acceleration, etc.) in 2d space: (dx, dy, dh).

Uses double-precision floating point numbers.

Member Function Documentation

deltaFixed()

Pose Geometry2d::Twist::deltaFixed ( double  t ) const

inline

Find the resulting pose (delta) of an object starting at the origin and continuing with constant (world-space) velocity for the specified time (in seconds).

Throughout the movement, linear velocity relative to the origin is constant (but velocity in the pose's reference frame is changing in direction as the pose rotates)

Called deltaFixed because it operates fixed to the origin frame.

deltaRelative()

Pose Geometry2d::Twist::deltaRelative ( double  t ) const

inline

Find the resulting pose (delta) of an object starting at the origin and continuing with constant (local) velocity for the specified time (in seconds).

Throughout the movement, linear velocity relative to the pose's frame of reference is constant (but linear velocity relative to the origin might change as the pose rotates)

Called deltaRelative because it operates with velocities that remain constant relative to the pose.

In mathematical terms, this is the exponential mapping that takes the Lie algebra se(2) (twists) to the Lie group SE(2) (poses).

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

• common/Geometry2d/Pose.hpp