Fawkes API
Fawkes Development Version
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A 2-dimensional pose, i.e. More...
#include <>>
Public Member Functions | |
HomPose2d (const HomPoint &pos, const HomVector &orientation) | |
Constructor. | |
HomPose2d (float x=0.0, float y=0.0, float yaw=0.0) | |
Constructor. | |
HomPose2d (const HomPose2d &p) | |
Copy constructor. | |
~HomPose2d () | |
Destructor. | |
const HomPose2d & | operator= (const HomPose2d &p) |
Assignment operator. | |
float | x () const |
Get the x-coordinate of the position. | |
void | x (float x) |
Set the x-coordinate of the position. | |
float | y () const |
Get the y-coordinate of the position. | |
void | y (float y) |
Set the y-coordinate of the position. | |
float | yaw () const |
Get the angle of the current orientation [0...2pi]. | |
void | yaw (float yaw) |
Set the angle of the orientation. | |
const HomPoint & | position () const |
Get the position. | |
const HomVector & | orientation () const |
Get the orientation vector. | |
void | set_position (const HomPoint &p) |
Set the positional part of the pose. | |
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Transformable () | |
Constructor. | |
virtual | ~Transformable () |
Destructor. |
Protected Member Functions | |
void | register_primitives () |
Here, a derived class should register its primitives (HomPoints and HomVectors) by calling add_primitive for each of those. | |
void | post_transform () |
This method is called after the primitives are transformed. | |
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void | transform (const HomTransform &t) |
Apply the transform to all registered primitives and call the post_transform() method. | |
void | add_primitive (HomCoord *c) |
Add a primitive to the list of primitives that is transformed. | |
void | clear_primitives () |
Clear the list of primitives. |
A 2-dimensional pose, i.e.
a combination of position and orientation.
Definition at line 33 of file hom_pose_2d.h.
Constructor.
position | the posititon |
orientation | the orientation |
Definition at line 41 of file hom_pose_2d.cpp.
References register_primitives(), fawkes::HomVector::unit(), fawkes::HomCoord::x(), and fawkes::HomCoord::y().
fawkes::HomPose2d::HomPose2d | ( | float | x = 0.0 , |
float | y = 0.0 , |
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float | yaw = 0.0 |
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Constructor.
x | the x-coordinate of the position |
y | the y-coordinate of the position |
yaw | the angle of the orientation wrt. the current frame |
Definition at line 57 of file hom_pose_2d.cpp.
References register_primitives(), fawkes::HomCoord::rotate_z(), and yaw().
fawkes::HomPose2d::HomPose2d | ( | const HomPose2d & | p | ) |
Copy constructor.
p | the other pose |
Definition at line 71 of file hom_pose_2d.cpp.
References register_primitives().
fawkes::HomPose2d::~HomPose2d | ( | ) |
Destructor.
Definition at line 82 of file hom_pose_2d.cpp.
Assignment operator.
p | the rhs pose |
Definition at line 93 of file hom_pose_2d.cpp.
const HomVector & fawkes::HomPose2d::orientation | ( | ) | const |
Get the orientation vector.
Definition at line 189 of file hom_pose_2d.cpp.
const HomPoint & fawkes::HomPose2d::position | ( | ) | const |
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protectedvirtual |
This method is called after the primitives are transformed.
Any additional updates that need to be done should be done here.
Implements fawkes::Transformable.
Definition at line 202 of file hom_pose_2d.cpp.
References fawkes::HomCoord::x(), and fawkes::HomCoord::y().
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protectedvirtual |
Here, a derived class should register its primitives (HomPoints and HomVectors) by calling add_primitive for each of those.
Implements fawkes::Transformable.
Definition at line 195 of file hom_pose_2d.cpp.
References fawkes::Transformable::add_primitive().
Referenced by HomPose2d().
void fawkes::HomPose2d::set_position | ( | const HomPoint & | p | ) |
Set the positional part of the pose.
p | the new position |
Definition at line 180 of file hom_pose_2d.cpp.
float fawkes::HomPose2d::x | ( | ) | const |
Get the x-coordinate of the position.
Definition at line 107 of file hom_pose_2d.cpp.
References fawkes::HomCoord::x().
Referenced by fawkes::WorldInfoDataContainer::get_ball_pos_global(), and FieldView::on_draw().
void fawkes::HomPose2d::x | ( | float | x | ) |
Set the x-coordinate of the position.
x | the new x-coordinate of the position. |
Definition at line 116 of file hom_pose_2d.cpp.
References fawkes::HomCoord::x().
float fawkes::HomPose2d::y | ( | ) | const |
Get the y-coordinate of the position.
Definition at line 125 of file hom_pose_2d.cpp.
References fawkes::HomCoord::y().
Referenced by fawkes::WorldInfoDataContainer::get_ball_pos_global(), and FieldView::on_draw().
void fawkes::HomPose2d::y | ( | float | y | ) |
Set the y-coordinate of the position.
y | the new x-coordinate of the position. |
Definition at line 134 of file hom_pose_2d.cpp.
References fawkes::HomCoord::y().
float fawkes::HomPose2d::yaw | ( | ) | const |
Get the angle of the current orientation [0...2pi].
Definition at line 143 of file hom_pose_2d.cpp.
Referenced by fawkes::WorldInfoDataContainer::get_ball_pos_global(), HomPose2d(), FieldView::on_draw(), and yaw().
void fawkes::HomPose2d::yaw | ( | float | yaw | ) |
Set the angle of the orientation.
yaw | the new angle of the orientation |
Definition at line 152 of file hom_pose_2d.cpp.
References fawkes::HomCoord::rotate_z(), and yaw().