#include <R2Arma.h>
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. |
Pose2DArma::Pose2DArma | ( | ) |
Default constructor.
Complete constructor.
Complete constructor.
Pose2DArma::Pose2DArma | ( | const Position2DArma & | pos, | |
const Angle & | ori | |||
) |
Complete constructor.
Pose2DArma::Pose2DArma | ( | const Position2DArma & | pos, | |
const Decimal & | ori | |||
) |
Complete constructor.
Complete constructor.
Complete constructor.
Pose2DArma::Pose2DArma | ( | const Pose & | pos | ) |
Complete constructor.
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.
Decimal Pose2DArma::getX | ( | ) | const |
Get the current position on x axis.
Decimal Pose2DArma::getY | ( | ) | const |
Get the current position on y axis.
Angle Pose2DArma::getOriAngle | ( | ) |
Get the current orientation.
Decimal Pose2DArma::getOri | ( | ) |
Get the current orientation.
void Pose2DArma::setPos | ( | const Position2DArma & | pos | ) |
void Pose2DArma::setX | ( | const Decimal & | x | ) |
Set the current position.
[in] | x | X to set |
void Pose2DArma::setY | ( | const Decimal & | y | ) |
Set the current position.
[in] | y | Y to set |
void Pose2DArma::setOri | ( | const Angle & | ori | ) |
Set the current position.
[in] | ori | Orientation to set |
void Pose2DArma::setOri | ( | const Decimal & | ori | ) |
Set the current position.
[in] | ori | Orientation to set |
Decimal Pose2DArma::norm | ( | int | p = 2 |
) | const |
Get the norm from the position.
[in] | p | Order of the norm |
Decimal Pose2DArma::azimuth | ( | ) | const |
Get the azimuth from the position.
Angle Pose2DArma::azimuthAngle | ( | ) | const |
Get the 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.
[in] | &other | Other pose |
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.