24 #ifndef __GEOMETRY_HOM_POSE_2D_H_
25 #define __GEOMETRY_HOM_POSE_2D_H_
27 #include <geometry/transformable.h>
void register_primitives()
Here, a derived class should register its primitives (HomPoints and HomVectors) by calling add_primit...
A 2-dimensional pose, i.e.
HomPose2d(const HomPoint &pos, const HomVector &orientation)
Constructor.
void post_transform()
This method is called after the primitives are transformed.
void set_position(const HomPoint &p)
Set the positional part of the pose.
float yaw() const
Get the angle of the current orientation [0...2pi].
const HomPose2d & operator=(const HomPose2d &p)
Assignment operator.
float x() const
Get the x-coordinate of the position.
const HomPoint & position() const
Get the position.
float y() const
Get the y-coordinate of the position.
const HomVector & orientation() const
Get the orientation vector.