Spaces
[Baselib]

basic set of classes about geometrical spaces More...

Classes

class  BoundBox
 Bounding box, represents 2D margins. More...
class  Odometry2D
 Velocity in 2D, linear velocity along x, y and angular velocity along z. More...
class  PoseFeature
 Pose feature, a pose endowed with an associated integer. More...
class  PoseFeatures
 Pose features, a vector of PoseFeature (Pose feature). More...
class  Position
 Represents (x,y) in R^2. More...
class  PosiFeature
 Position feature, a position endowed with an associated integer. More...
class  Observation
 Position features, a vector of PosiFeature (position feature) sorted by x and with null PosiFeature. More...
class  Position3D
 Represents (x,y,z) in R^3. More...
class  Velocity3D
 Represents velocity vector in R^3. More...
class  Acceleration3D
 Represents acceleration vector in R^3. More...
class  S1
 Represents elements of S1 with variable module. More...
class  Angle
 Represents angles. More...
class  Anglem
 Represents angles in [0,2*MPIm). More...
class  Orientation3D
 Represents the triple roll, pitch, yaw. More...
class  Pose
 Represents (x,y,ori) in SE(2). More...
class  Pose3D
 Represents (x,y,z,roll,pitch,yaw) in SE(3). More...
class  PoseFeature3D
class  TimeStampedPose
 Pose with a lifeTime and a timeStamp. More...
class  Surface
 surface class, provide a representation of a road as a sequence of planes each of them containing a reference point. More...
class  PosiFeatures
 Position features, a vector of PosiFeature (position feature). More...

Defines

#define R3_COORD(VECT)   VECT.x(),VECT.y(),VECT.z()
#define R3_VAR_COORD(VECT, X, Y, Z)   VECT.X,VECT.Y,VECT.Z
#define MPIm   18000
#define MAX_NUM_PLANES   5000
#define PLANES_DATA_ELEMENTS   7
#define TRANS_MATRIX_DATA   9
#define SOURCE_FILE_COLUMNS   22
#define SOURCE_FILE_X_COORD_POS   0
#define SOURCE_FILE_Z_COORD_POS   2
#define SOURCE_FILE_a_COEFF_POS   18
#define SOURCE_FILE_d_COEFF_POS   21
#define X_COORD_POS   0
#define Y_COORD_POS   1
#define Z_COORD_POS   2
#define a_COEFF_POS   3
#define b_COEFF_POS   4
#define c_COEFF_POS   5
#define d_COEFF_POS   6

Typedefs

typedef vector< PosiFeature > PosiFeatures

Functions

double cos (UCoordmm a)
double sin (UCoordmm a)
 Pose3D::Pose3D (Decimal x, Decimal y, Decimal z, Angle roll, Angle pitch, Angle yaw)
 Pose3D::Pose3D (Position3D pos, Orientation3D ori)
 Pose3D::Pose3D (Decimal x, Decimal y, Decimal z, Orientation3D ori)
 Pose3D::Pose3D (Position3D pos, Angle roll, Angle pitch, Angle yaw)
 Pose3D::Pose3D (const Pose3D &p)
Pose3D & Pose3D::operator= (const Pose3D &rhs)
Pose3D & Pose3D::operator+= (const Pose3D &a)
Pose3D & Pose3D::operator-= (const Pose3D &a)
const Pose3D Pose3D::operator+ (const Pose3D &other) const
const Pose3D Pose3D::operator- (const Pose3D &other) const
const Position3D Pose3D::operator* (Position3D p)
 binary arithmetic operator product by a Position (rototranslation)
bool Pose3D::operator== (const Pose3D &other) const
bool Pose3D::operator!= (const Pose3D &other) const
Position3D Pose3D::pos ()
Orientation3D Pose3D::ori ()
bool Pose3D::valid ()
string Pose3D::print ()
void Pose3D::directComposition (Pose3D &t)
void Pose3D::inverseComposition (Pose3D &t)
void Pose3D::directCompositionYaw (Pose3D &t)
void Pose3D::inverseCompositionYaw (Pose3D &t)
void Pose3D::setPos (Position3D &p)
 Set Position.
void Pose3D::setOri (Orientation3D &o)
 Set Orientation.
bool Pose3D::fromString (const string &s)
string Pose3D::toString () const
 PoseFeature3D::PoseFeature3D (Pose3D p)
 Pose constructor.
 PoseFeature3D::PoseFeature3D (Pose3D p, int i)
 Complete constructor (T and assocType).
 PoseFeature3D::PoseFeature3D (const PoseFeature3D &f)
 Copy constructor.
Pose3D PoseFeature3D::getPose (void)
 Get the stored Pose.
int PoseFeature3D::getId (void)
 Get the associated integer.
void PoseFeature3D::setId (int a)
 Set the associated integer.
string PoseFeature3D::print ()
 Print the PoseFeature.
bool PoseFeature3D::notEqual (PoseFeature3D &pose, Decimal toll)
 Compare the pose with another pose with a tollerance.

Detailed Description

basic set of classes about geometrical spaces

Define Documentation

#define a_COEFF_POS   3

#define b_COEFF_POS   4

#define c_COEFF_POS   5

#define d_COEFF_POS   6

#define MAX_NUM_PLANES   5000

#define MPIm   18000

#define PLANES_DATA_ELEMENTS   7

#define R3_COORD ( VECT   )     VECT.x(),VECT.y(),VECT.z()

#define R3_VAR_COORD ( VECT,
X,
Y,
Z   )     VECT.X,VECT.Y,VECT.Z

#define SOURCE_FILE_a_COEFF_POS   18

#define SOURCE_FILE_COLUMNS   22

#define SOURCE_FILE_d_COEFF_POS   21

#define SOURCE_FILE_X_COORD_POS   0

#define SOURCE_FILE_Z_COORD_POS   2

#define TRANS_MATRIX_DATA   9

#define X_COORD_POS   0

#define Y_COORD_POS   1

#define Z_COORD_POS   2

Typedef Documentation

typedef vector<PosiFeature> PosiFeatures

Function Documentation

double cos ( UCoordmm  a  )  [inline]

Examples:
exampleDraWin.cpp.

void Pose3D::directComposition ( Pose3D &  t  )  [inline, inherited]

direct composition

void Pose3D::directCompositionYaw ( Pose3D &  t  )  [inline, inherited]

direct composition with only yaw rotation

bool Pose3D::fromString ( const string &  s  )  [inline, inherited]

int PoseFeature3D::getId ( void   )  [inline, inherited]

Get the associated integer.

Returns:
The associated integer.

Pose3D PoseFeature3D::getPose ( void   )  [inline, inherited]

Get the stored Pose.

Returns:
The stored Pose.

void Pose3D::inverseComposition ( Pose3D &  t  )  [inline, inherited]

inverse composition

void Pose3D::inverseCompositionYaw ( Pose3D &  t  )  [inline, inherited]

inverse composition with only yaw rotation

bool PoseFeature3D::notEqual ( PoseFeature3D &  pose,
Decimal  toll 
) [inline, inherited]

Compare the pose with another pose with a tollerance.

Parameters:
[in] &pose PoseFeature to which the PoseFeature has to be compared.
[out] toll Threshold of tollerance for the comparison.
Returns:
true if the ids are equal and the poses are equal with a certain tollerance, false otherwise.

bool Pose3D::operator!= ( const Pose3D &  other  )  const [inline, inherited]

compound operator !=

const Position3D Pose3D::operator* ( Position3D  p  )  [inline, inherited]

binary arithmetic operator product by a Position (rototranslation)

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

const Pose3D Pose3D::operator+ ( const Pose3D &  other  )  const [inline, inherited]

binary arithmetic operator +

Pose3D& Pose3D::operator+= ( const Pose3D &  a  )  [inline, inherited]

compound assignment operator +=

const Pose3D Pose3D::operator- ( const Pose3D &  other  )  const [inline, inherited]

binary arithmetic operator -

Pose3D& Pose3D::operator-= ( const Pose3D &  a  )  [inline, inherited]

compound assignment operator -=

Pose3D& Pose3D::operator= ( const Pose3D &  rhs  )  [inline, inherited]

assigment operator =

bool Pose3D::operator== ( const Pose3D &  other  )  const [inline, inherited]

compound operator ==

Orientation3D Pose3D::ori (  )  [inline, inherited]

Position3D Pose3D::pos (  )  [inline, inherited]

elements

Pose3D::Pose3D ( const Pose3D &  p  )  [inline, inherited]

copy constructor

Pose3D::Pose3D ( Position3D  pos,
Angle  roll,
Angle  pitch,
Angle  yaw 
) [inline, inherited]

Position, Decimal Angle constructor

Pose3D::Pose3D ( Decimal  x,
Decimal  y,
Decimal  z,
Orientation3D  ori 
) [inline, inherited]

Decimal position, Angle constructor

Pose3D::Pose3D ( Position3D  pos,
Orientation3D  ori 
) [inline, inherited]

Position,Angle constructor

Pose3D::Pose3D ( Decimal  x,
Decimal  y,
Decimal  z,
Angle  roll,
Angle  pitch,
Angle  yaw 
) [inline, inherited]

Decimal constructor

PoseFeature3D::PoseFeature3D ( const PoseFeature3D &  f  )  [inline, inherited]

Copy constructor.

PoseFeature3D::PoseFeature3D ( Pose3D  p,
int  i 
) [inline, inherited]

Complete constructor (T and assocType).

Note:
The id is automatically set as associated.
Parameters:
[in] p Pose to which i the must be associated.
[in] id An int to associate with p.

PoseFeature3D::PoseFeature3D ( Pose3D  p  )  [inline, inherited]

Pose constructor.

Parameters:
[in] p Pose to which a second assoObj could be associated
Note:
It is automatically set as NOT associated.

string PoseFeature3D::print (  )  [inline, inherited]

Print the PoseFeature.

Returns:
A string with the PoseFeature printed on it.

string Pose3D::print (  )  [inline, inherited]

print

Reimplemented in kybalg::Pose3DIdTime.

void PoseFeature3D::setId ( int  a  )  [inline, inherited]

Set the associated integer.

Parameters:
[in] a The value to which the associated integer is set.

void Pose3D::setOri ( Orientation3D &  o  )  [inline, inherited]

Set Orientation.

void Pose3D::setPos ( Position3D &  p  )  [inline, inherited]

Set Position.

double sin ( UCoordmm  a  )  [inline]

Examples:
exampleDraWin.cpp.

string Pose3D::toString (  )  const [inline, inherited]

bool Pose3D::valid (  )  [inline, inherited]

validity

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