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.

See also:: CPoseOrPoint,CPoint2D

#include <mrpt/poses/CPose2D.h>

Inheritance diagram for mrpt::poses::CPose2D:

[legend]

List of all members.

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 constructor_dummy_param)
	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 ()
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 (vector_double &v) const
	Returns a 1x3 vector with [x y phi].
void	getHomogeneousMatrix (CMatrixDouble44 &out_HM) const
	Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation).
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.
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.
CPose2D	operator- (const CPose2D &b) const
	Compute $RET = this \oplus b$ .
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.
CPose2D &	operator+= (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
const type_value &	getPoseMean () const
type_value &	getPoseMean ()
CPose3D	operator- (const CPose3D &b) const
	The operator $a \ominus b$ is the pose inverse compounding operator.
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).
CObject *	clone () const
	Cloning interface for smart pointers.
Static Public Member Functions
static bool	is_3D ()
static bool	is_PDF ()
Public Attributes
mrpt::math::CArrayDouble< 2 >	m_coords
	[x,y]
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
Protected Member Functions
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	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.
Protected Attributes
double	m_phi
	The orientation of the pose, in radians.
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.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
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.
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
static const mrpt::utils::TRuntimeClassId	classCSerializable
class	mrpt::utils::CStream

Member Typedef Documentation

typedef const double& mrpt::poses::CPose2D::const_reference

Definition at line 222 of file CPose2D.h.

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

Definition at line 224 of file CPose2D.h.

typedef double& mrpt::poses::CPose2D::reference

Definition at line 221 of file CPose2D.h.

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

Definition at line 223 of file CPose2D.h.

typedef CPose2DPtr mrpt::poses::CPose2D::SmartPtr

A typedef for the associated smart pointer

Definition at line 57 of file CPose2D.h.

typedef CPose2D mrpt::poses::CPose2D::type_value

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

Definition at line 208 of file CPose2D.h.

typedef double mrpt::poses::CPose2D::value_type

The type of the elements.

Definition at line 220 of file CPose2D.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

is_3D_val

Definition at line 209 of file CPose2D.h.

anonymous enum

Enumerator:

rotation_dimensions

Definition at line 211 of file CPose2D.h.

anonymous enum

Enumerator:

is_PDF_val

Definition at line 212 of file CPose2D.h.

anonymous enum

Enumerator:

static_size

Definition at line 227 of file CPose2D.h.

Constructor & Destructor Documentation

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.

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

Constructor from a CPoint2D object.

mrpt::poses::CPose2D::CPose2D ( const CPose3D & ) [explicit]

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

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

Constructor from lightweight object.

mrpt::poses::CPose2D::CPose2D ( const CPoint3D & ) [explicit]

Constructor from CPoint3D with information loss.

mrpt::poses::CPose2D::CPose2D ( TConstructorFlags_Poses constructor_dummy_param ) [inline]

Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument.

Definition at line 85 of file CPose2D.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose2D::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

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 [inline]

Returns a human-readable textual representation of the object (eg: "[x y yaw]", yaw in degrees)

See also:: fromString

Definition at line 166 of file CPose2D.h.

References mrpt::format(), Eigen::internal::y, and mrpt::utils::RAD2DEG().

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

Definition at line 167 of file CPose2D.h.

References asString().

Referenced by asString().

void mrpt::poses::CPose2D::changeCoordinatesReference ( const CPose2D & p ) [inline]

makes: this = p (+) this

Definition at line 206 of file CPose2D.h.

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

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.

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.

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

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

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

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

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).

Definition at line 151 of file CObject.h.

static bool mrpt::poses::CPose2D::empty ( ) [inline, static]

Definition at line 229 of file CPose2D.h.

void mrpt::poses::CPose2D::fromString ( const std::string & s ) [inline]

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" )

See also:: asString

Exceptions:

std::exception On invalid format

Definition at line 173 of file CPose2D.h.

References THROW_EXCEPTION, ASSERTMSG_, mrpt::math::size(), Eigen::internal::y, and mrpt::utils::DEG2RAD().

void mrpt::poses::CPose2D::getAsVector ( vector_double & v ) const

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

void mrpt::poses::CPose2D::getHomogeneousMatrix ( CMatrixDouble44 & out_HM ) const

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

See also:: getInverseHomogeneousMatrix

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

Definition at line 215 of file CPose2D.h.

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

Definition at line 216 of file CPose2D.h.

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

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 operator-().

static bool mrpt::poses::CPose2D::is_3D ( ) [inline, static]

Definition at line 210 of file CPose2D.h.

static bool mrpt::poses::CPose2D::is_PDF ( ) [inline, static]

Definition at line 213 of file CPose2D.h.

static size_type mrpt::poses::CPose2D::max_size ( ) [inline, static]

Definition at line 230 of file CPose2D.h.

References static_size.

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

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

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

Scalar multiplication.

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

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

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

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

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

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

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

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

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

Make $this = this \oplus b$ .

Definition at line 153 of file CPose2D.h.

CPose3D mrpt::poses::CPose::operator- ( const CPose3D & b ) const [inherited]

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

CPose2D mrpt::poses::CPose2D::operator- ( const CPose2D & b ) const [inline]

Compute $RET = this \oplus b$ .

Definition at line 136 of file CPose2D.h.

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

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

Definition at line 182 of file CPose2D.h.

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

Definition at line 193 of file CPose2D.h.

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

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

Definition at line 88 of file CPose2D.h.

Referenced by mrpt::graphs::detail::graph_ops::write_VERTEX_line(), mrpt::graphs::detail::graph_ops::write_EDGE_line(), mrpt::graphs::detail::graph_ops::auxEuclid2Dist(), mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), mrpt::poses::SE_traits< 2 >::exp(), and mrpt::poses::SE_traits< 2 >::ln().

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 90 of file CPose2D.h.

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

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

Definition at line 93 of file CPose2D.h.

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 95 of file CPose2D.h.

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

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.

Parameters:

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.

Exceptions:

std::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

static void mrpt::poses::CPose2D::resize ( const size_t n ) [inline, static]

Definition at line 231 of file CPose2D.h.

References static_size, and mrpt::format().

static size_type mrpt::poses::CPose2D::size ( ) [inline, static]

Definition at line 228 of file CPose2D.h.

References static_size.

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

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.

Parameters:

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.

Exceptions:

std::exception On any error, see CStream::WriteBuffer