Lightweight 2D pose.
Allows coordinate access using [] operator.
Definition at line 194 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. |
mrpt::math::TPose2D::TPose2D | ( | const TPoint2D & | p ) |
mrpt::math::TPose2D::TPose2D | ( | const TPoint3D & | p ) | [explicit] |
mrpt::math::TPose2D::TPose2D | ( | const TPose3D & | p ) | [explicit] |
mrpt::math::TPose2D::TPose2D | ( | const mrpt::poses::CPose2D & | p ) |
Implicit constructor from heavyweight type.
mrpt::math::TPose2D::TPose2D | ( | double | xx, |
double | yy, | ||
double | pphi | ||
) | [inline] |
Constructor from coordinates.
Definition at line 230 of file lightweight_geom_data.h.
mrpt::math::TPose2D::TPose2D | ( | ) | [inline] |
Default fast constructor.
Initializes to garbage.
Definition at line 234 of file lightweight_geom_data.h.
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)
Definition at line 257 of file lightweight_geom_data.h.
References mrpt::format(), mrpt::utils::RAD2DEG(), and internal::y.
std::string mrpt::math::TPose2D::asString | ( | ) | const [inline] |
Definition at line 258 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]" )
std::exception | On invalid format |
void mrpt::math::TPose2D::getAsVector | ( | vector_double & | v ) | const [inline] |
Transformation into vector.
Definition at line 250 of file lightweight_geom_data.h.
References mrpt::dynamicsize_vector< T >::resize(), and internal::y.
const double& mrpt::math::TPose2D::operator[] | ( | size_t | i ) | const [inline] |
Unsafe coordinate access using operator[].
Intended for loops.
Definition at line 244 of file lightweight_geom_data.h.
double& mrpt::math::TPose2D::operator[] | ( | size_t | i ) | [inline] |
Unsafe coordinate access using operator[].
Intended for loops.
Definition at line 238 of file lightweight_geom_data.h.
static size_t mrpt::math::TPose2D::size | ( | ) | [inline, static] |
Definition at line 265 of file lightweight_geom_data.h.
double mrpt::math::TPose2D::phi |
Phi coordinate.
Definition at line 206 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 198 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 202 of file lightweight_geom_data.h.
Referenced by mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), mrpt::math::operator!=(), and mrpt::math::operator==().
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