Pose Class Reference
[Spaces]

Represents (x,y,ori) in SE(2). More...

#include <SE2.h>

List of all members.

Public Member Functions
	Pose ()
	Default constructor.
	Pose (Decimal x, Decimal y, Angle theta)
	Decimal constructor.
	Pose (Position pos, Angle ori)
	Position,Angle constructor.
	Pose (const Pose &p)
	Copy constructor.
Pose &	operator= (const Pose &rhs)
	Assigment operator =.
Pose &	operator+= (const Pose &a)
	compound assignment operator +=.
Pose &	operator-= (const Pose &a)
	compound assignment operator -=.
const Pose	operator+ (const Pose &other) const
	binary arithmetic operator +.
const Pose	operator- (const Pose &other) const
	binary arithmetic operator -.
const Position	operator* (Position p)
	binary arithmetic operator product by a Position (rototranslation).
bool	operator== (const Pose &other) const
	Compound operator ==.
bool	operator!= (const Pose &other) const
	Compound operator !=.
Decimal	x () const
	X.
Decimal	y () const
	Y.
Position	pos () const
	Position.
Angle	ori () const
	Orientation.
void	setX (Decimal)
	Set x.
void	setY (Decimal)
	Set x.
void	setOri (Angle)
	Set orientation.
bool	valid ()
	Validity.
string	print (int linPrecision=4, int angPrecision=2) const
	Print.
bool	fromString (const string &s)
string	toString () const
void	directComposition (Pose &t)
	Direct composition.
void	inverseComposition (Pose &t)
	Inverse composition.
void	uRotateFrame (Angle &t)
	Change frame of non-applied pose.
void	uInverseRotateFrame (Angle &t)
	Inverse change of frame for non-applied pose.

---

Detailed Description

Represents (x,y,ori) in SE(2).

Author:

Antonio Franchi

Todo:

Implementare le composizioni di pose.

Todo:

Implementare le inversioni di pose.

Examples:

exampleCommModule.cpp, and exampleDraWin.cpp.

---

Constructor & Destructor Documentation

Pose::Pose

(

)

Default constructor.

default constructor

Pose::Pose	(	Decimal	x,
		Decimal	y,
		Angle	theta
	)

Decimal constructor.

Decimal constructor

Pose::Pose	(	Position	pos,
		Angle	ori
	)

Position,Angle constructor.

Position,Angle constructor

Pose::Pose

(

const Pose &

p

)

Copy constructor.

copy constructor

---

Member Function Documentation

Pose & Pose::operator=

(

const Pose &

rhs

)

Assigment operator =.

assigment operator =

Pose & Pose::operator+=

(

const Pose &

a

)

compound assignment operator +=.

compound assignment operator +=

Pose & Pose::operator-=

(

const Pose &

a

)

compound assignment operator -=.

compound assignment operator -=

const Pose Pose::operator+

(

const Pose &

other

)

const

binary arithmetic operator +.

binary arithmetic operator +

const Pose Pose::operator-

(

const Pose &

other

)

const

binary arithmetic operator -.

binary arithmetic operator -

const Position Pose::operator*

(

Position

p

)

binary arithmetic operator product by a Position (rototranslation).

binary arithmetic operator product by a Position (rototranslation)

Note:

the Position scalar must be on the right side of the product

the Position scalar must be on the right side of the product

bool Pose::operator==

(

const Pose &

other

)

const

Compound operator ==.

bool Pose::operator!=

(

const Pose &

other

)

const

Compound operator !=.

Decimal Pose::x

(

void

)

const

X.

Decimal Pose::y

(

void

)

const

Y.

Position Pose::pos

(

)

const

Position.

Angle Pose::ori

(

)

const

Orientation.

void Pose::setX

(

Decimal

x

)

Set x.

void Pose::setY

(

Decimal

y

)

Set x.

void Pose::setOri

(

Angle

ori

)

Set orientation.

bool Pose::valid

(

)

Validity.

string Pose::print	(	int	linPrecision = 4,
		int	angPrecision = 2
	)			const

Print.

bool Pose::fromString

(

const string &

s

)

string Pose::toString

(

)

const

void Pose::directComposition

(

Pose &

t

)

Direct composition.

void Pose::inverseComposition

(

Pose &

t

)

Inverse composition.

inverse composition

void Pose::uRotateFrame

(

Angle &

t

)

Change frame of non-applied pose.

change frame of non-applied pose

void Pose::uInverseRotateFrame

(

Angle &

t

)

Inverse change of frame for non-applied pose.

Inverse change of frame for non-applied pose

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

• baselib/Spaces/SE2.h
• baselib/Spaces/SE2.cpp