MipBaselib::Pose2DArma Class Reference

#include <R2Arma.h>

List of all members.

Public Member Functions
	Pose2DArma ()
	Default constructor.
	Pose2DArma (const Decimal &x, const Decimal &y, const Angle &yaw)
	Complete constructor.
	Pose2DArma (const Decimal &x, const Decimal &y, const Decimal &yaw)
	Complete constructor.
	Pose2DArma (const Position2DArma &pos, const Angle &ori)
	Complete constructor.
	Pose2DArma (const Position2DArma &pos, const Decimal &ori)
	Complete constructor.
	Pose2DArma (const arma::Mat< Decimal >::fixed< 2, 1 > &pos, const Decimal &ori)
	Complete constructor.
	Pose2DArma (const arma::Mat< Decimal >::fixed< 2, 1 > &pos, const Angle &ori)
	Complete constructor.
	Pose2DArma (const Pose &pos)
	Complete constructor.
Pose2DArma &	operator*= (const arma::Mat< Decimal >::fixed< 3, 3 > &rhs)
	Multiply for a rotation matrix.
Pose2DArma	operator* (const arma::Mat< Decimal >::fixed< 3, 3 > &rhs) const
	Operator *.
Pose2DArma &	operator*= (const arma::Mat< Decimal >::fixed< 4, 4 > &rhs)
	Multiply for a rotation matrix.
Pose2DArma	operator* (const arma::Mat< Decimal >::fixed< 4, 4 > &rhs) const
	Operator *.
Pose2DArma &	operator= (const Pose &rhs)
	Assignment operator.
Pose2DArma &	operator= (const Pose2DArma &rhs)
	Assignment operator.
Pose2DArma &	operator+= (const Pose2DArma &a)
	Operator +=.
const Pose2DArma	operator+ (const Pose2DArma &other) const
	Operator +=.
Pose2DArma &	operator-= (const Pose2DArma &a)
	Operator -=.
const Pose2DArma	operator- (const Pose2DArma &other) const
	Operator -.
bool	operator== (const Pose2DArma &other) const
	Operator ==.
bool	operator!= (const Pose2DArma &other) const
	Operator !=.
Position2DArma	getPos () const
	Get the current position.
Decimal	getX () const
	Get the current position on x axis.
Decimal	getY () const
	Get the current position on y axis.
Angle	getOriAngle ()
	Get the current orientation.
Decimal	getOri ()
	Get the current orientation.
void	setPos (const Position2DArma &pos)
	Set the current position.
void	setX (const Decimal &x)
	Set the current position.
void	setY (const Decimal &y)
	Set the current position.
void	setOri (const Angle &ori)
	Set the current position.
void	setOri (const Decimal &ori)
	Set the current position.
Decimal	norm (int p=2) const
	Get the norm from the position.
Decimal	azimuth () const
	Get the azimuth from the position.
Angle	azimuthAngle () const
	Get the azimuth from the position.
Pose2DArma &	relativeCoord (const Pose2DArma &other)
	Relative coordinate computation as ^2p_1 = ^0R_1^T (^0p_2 - ^0p_1) and 1^R_2 = ^0R_1^T ^0R_2.
void	directComposition (Pose2DArma &t)
	Direct composition.
void	inverseComposition (Pose2DArma &t)
	Inverse composition. Method used to compute last change of coordinates of pose in input.
string	print ()
	Print function.

---

Constructor & Destructor Documentation

Pose2DArma::Pose2DArma

(

)

Default constructor.

Pose2DArma::Pose2DArma	(	const Decimal &	x,
		const Decimal &	y,
		const Angle &	yaw
	)

Complete constructor.

Pose2DArma::Pose2DArma	(	const Decimal &	x,
		const Decimal &	y,
		const Decimal &	yaw
	)

Complete constructor.

Pose2DArma::Pose2DArma	(	const Position2DArma &	pos,
		const Angle &	ori
	)

Complete constructor.

Pose2DArma::Pose2DArma	(	const Position2DArma &	pos,
		const Decimal &	ori
	)

Complete constructor.

Pose2DArma::Pose2DArma	(	const arma::Mat< Decimal >::fixed< 2, 1 > &	pos,
		const Decimal &	ori
	)

Complete constructor.

Pose2DArma::Pose2DArma	(	const arma::Mat< Decimal >::fixed< 2, 1 > &	pos,
		const Angle &	ori
	)

Complete constructor.

Pose2DArma::Pose2DArma

(

const Pose &

pos

)

Complete constructor.

---

Member Function Documentation

Pose2DArma & Pose2DArma::operator*=

(

const arma::Mat< Decimal >::fixed< 3, 3 > &

rhs

)

Multiply for a rotation matrix.

Pose2DArma Pose2DArma::operator*

(

const arma::Mat< Decimal >::fixed< 3, 3 > &

rhs

)

const

Operator *.

Pose2DArma & Pose2DArma::operator*=

(

const arma::Mat< Decimal >::fixed< 4, 4 > &

rhs

)

Multiply for a rotation matrix.

Pose2DArma Pose2DArma::operator*

(

const arma::Mat< Decimal >::fixed< 4, 4 > &

rhs

)

const

Operator *.

Pose2DArma & Pose2DArma::operator=

(

const Pose &

rhs

)

Assignment operator.

Pose2DArma & Pose2DArma::operator=

(

const Pose2DArma &

rhs

)

Assignment operator.

Pose2DArma & Pose2DArma::operator+=

(

const Pose2DArma &

a

)

Operator +=.

const Pose2DArma Pose2DArma::operator+

(

const Pose2DArma &

other

)

const

Operator +=.

Pose2DArma & Pose2DArma::operator-=

(

const Pose2DArma &

a

)

Operator -=.

const Pose2DArma Pose2DArma::operator-

(

const Pose2DArma &

other

)

const

Operator -.

bool Pose2DArma::operator==

(

const Pose2DArma &

other

)

const

Operator ==.

bool Pose2DArma::operator!=

(

const Pose2DArma &

other

)

const

Operator !=.

Position2DArma Pose2DArma::getPos

(

)

const

Get the current position.

Returns:

Current position

Decimal Pose2DArma::getX

(

)

const

Get the current position on x axis.

Returns:

Current x

Decimal Pose2DArma::getY

(

)

const

Get the current position on y axis.

Returns:

Current y

Angle Pose2DArma::getOriAngle

(

)

Get the current orientation.

Returns:

Current orientation

Decimal Pose2DArma::getOri

(

)

Get the current orientation.

Returns:

Current orientation

void Pose2DArma::setPos

(

const Position2DArma &

pos

)

Set the current position.

Parameters:

[in]

pos

Position to set

void Pose2DArma::setX

(

const Decimal &

x

)

Set the current position.

Parameters:

[in]

x

X to set

void Pose2DArma::setY

(

const Decimal &

y

)

Set the current position.

Parameters:

[in]

y

Y to set

void Pose2DArma::setOri

(

const Angle &

ori

)

Set the current position.

Parameters:

[in]

ori

Orientation to set

void Pose2DArma::setOri

(

const Decimal &

ori

)

Set the current position.

Parameters:

[in]

ori

Orientation to set

Decimal Pose2DArma::norm

(

int

p = 2

)

const

Get the norm from the position.

Parameters:

[in]

p

Order of the norm

Returns:

Norm from the position

Decimal Pose2DArma::azimuth

(

)

const

Get the azimuth from the position.

Returns:

Azimuth from the position

Angle Pose2DArma::azimuthAngle

(

)

const

Get the azimuth from the position.

Returns:

Azimuth from the position

Pose2DArma & Pose2DArma::relativeCoord

(

const Pose2DArma &

other

)

Relative coordinate computation as ^2p_1 = ^0R_1^T (^0p_2 - ^0p_1) and 1^R_2 = ^0R_1^T ^0R_2.

Parameters:

[in]

&other

Other pose

Note:

It overwrites the this argument

void Pose2DArma::directComposition

(

Pose2DArma &

t

)

Direct composition.

void Pose2DArma::inverseComposition

(

Pose2DArma &

t

)

Inverse composition. Method used to compute last change of coordinates of pose in input.

inverse composition

string Pose2DArma::print

(

)

Print function.

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

• baselib/Spaces/R2Arma.h
• baselib/Spaces/R2Arma.cpp