mrpt::math::TPose2D Struct Reference

Detailed Description

Lightweight 2D pose.

Allows coordinate access using [] operator.

See Also

mrpt::poses::CPose2D

Definition at line 199 of file lightweight_geom_data.h.

#include <mrpt/math/lightweight_geom_data.h>

Public Member Functions
	TPose2D (const TPoint2D &p)
	Implicit constructor from TPoint2D.
	TPose2D (const TPoint3D &p)
	Constructor from TPoint3D, losing information.
	TPose2D (const TPose3D &p)
	Constructor from TPose3D, losing information.
	TPose2D (const mrpt::poses::CPose2D &p)
	Implicit constructor from heavyweight type.
	TPose2D (double xx, double yy, double pphi)
	Constructor from coordinates.
	TPose2D ()
	Default fast constructor.
double &	operator[] (size_t i)
	Unsafe coordinate access using operator[].
const double &	operator[] (size_t i) const
	Unsafe coordinate access using operator[].
void	getAsVector (vector_double &v) const
	Transformation into vector.
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 -45.0]" )

Static Public Member Functions
static size_t	size ()

Public Attributes
double	x
	X coordinate.
double	y
	Y coordinate.
double	phi
	Phi coordinate.

Constructor & Destructor Documentation

mrpt::math::TPose2D::TPose2D

(

const TPoint2D &

p

)

Implicit constructor from TPoint2D.

Zeroes the phi coordinate.

See Also

TPoint2D

mrpt::math::TPose2D::TPose2D ( const TPoint3D &  p )

explicit

Constructor from TPoint3D, losing information.

Zeroes the phi coordinate.

See Also

TPoint3D

mrpt::math::TPose2D::TPose2D ( const TPose3D &  p )

explicit

Constructor from TPose3D, losing information.

The phi corresponds to the original pose's yaw.

See Also

TPose3D

mrpt::math::TPose2D::TPose2D

(

const mrpt::poses::CPose2D &

p

)

Implicit constructor from heavyweight type.

See Also

mrpt::poses::CPose2D

mrpt::math::TPose2D::TPose2D ( double  xx, double  yy, double  pphi  )

inline

Constructor from coordinates.

Definition at line 235 of file lightweight_geom_data.h.

mrpt::math::TPose2D::TPose2D ( )

inline

Default fast constructor.

Initializes to garbage.

Definition at line 239 of file lightweight_geom_data.h.

Member Function Documentation

void mrpt::math::TPose2D::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 262 of file lightweight_geom_data.h.

References mrpt::mrpt::format(), and mrpt::utils::RAD2DEG().

std::string mrpt::math::TPose2D::asString ( ) const

inline

Definition at line 263 of file lightweight_geom_data.h.

References asString().

Referenced by asString().

void mrpt::math::TPose2D::fromString

(

const std::string &

s

)

Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -45.0]" )

See Also

asString

Exceptions

std::exception

On invalid format

void mrpt::math::TPose2D::getAsVector ( vector_double &  v ) const

inline

Transformation into vector.

Definition at line 255 of file lightweight_geom_data.h.

References mrpt::dynamicsize_vector< T >::resize().

double& mrpt::math::TPose2D::operator[] ( size_t  i )

inline

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 243 of file lightweight_geom_data.h.

const double& mrpt::math::TPose2D::operator[] ( size_t  i ) const

inline

Unsafe coordinate access using operator[].

Intended for loops.

Definition at line 249 of file lightweight_geom_data.h.

static size_t mrpt::math::TPose2D::size ( )

inlinestatic

Definition at line 270 of file lightweight_geom_data.h.

Member Data Documentation

double mrpt::math::TPose2D::phi

Phi coordinate.

Definition at line 211 of file lightweight_geom_data.h.

Referenced by mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), mrpt::math::operator!=(), and mrpt::math::operator==().

double mrpt::math::TPose2D::x

X coordinate.

Definition at line 203 of file lightweight_geom_data.h.

Referenced by mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), mrpt::math::operator!=(), and mrpt::math::operator==().

double mrpt::math::TPose2D::y

Y coordinate.

Definition at line 207 of file lightweight_geom_data.h.

Referenced by mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), mrpt::math::operator!=(), and mrpt::math::operator==().