A pose in a 2-dimentional space. More...

#include <alpose2d.h>

Public Member Functions
	Pose2D ()
	Create a Pose2D initialized with 0.0f. More...

	Pose2D (float pInit)
	Create a Pose2D initialize with the same float. More...

	Pose2D (float pX, float pY, float pTheta)
	Create a Pose2D initialized with explicit value. More...

	Pose2D (const std::vector< float > &pFloats)
	Create a Pose2D with an std::vector. More...

Pose2D	operator+ (const Pose2D &pPos2) const
	Overloading of operator + for Pose2D. More...

Pose2D	operator- (const Pose2D &pPos2) const
	Overloading of operator - for Pose2D. More...

Pose2D	operator+ (void) const
	Overloading of operator + for Pose2D. More...

Pose2D	operator- () const
	Overloading of operator - for Pose2D. More...

Pose2D &	operator+= (const Pose2D &pPos2)
	Overloading of operator += for Pose2D. More...

Pose2D &	operator-= (const Pose2D &pPos2)
	Overloading of operator -= for Pose2D. More...

Pose2D &	operator*= (const Pose2D &pPos2)
	Overloading of operator *= for Pose2D. More...

Pose2D	operator* (const Pose2D &pPos2) const
	Overloading of operator * for Pose2D. More...

bool	operator== (const Pose2D &pPos2) const
	Overloading of operator == for Pose2D. More...

bool	operator!= (const Pose2D &pPos2) const
	Overloading of operator != for Pose2D. More...

Pose2D	operator* (float pVal) const
	Overloading of operator * for Pose2D. More...

Pose2D	operator/ (float pVal) const
	Overloading of operator / for Pose2D. More...

Pose2D &	operator*= (float pVal)
	Overloading of operator *= for Pose2D. More...

Pose2D &	operator/= (float pVal)
	Overloading of operator /= for Pose2D. More...

float	distanceSquared (const Pose2D &pPos2) const
	Compute the squared distance between the actual Pose2D and the one give in argument. More...

float	distance (const Pose2D &pPos2) const
	Compute the distance between the actual Pose2D and the one give in argument. More...

Pose2D	inverse () const
	Return the inverse of the Pose2D More...

Pose2D	diff (const Pose2D &pPos2) const
	Compute the Pose2D between the actual Pose2D and the one given in argument: More...

bool	isNear (const Pose2D &pPos2, const float &pEpsilon=0.0001f) const
	Check if the actual Pose2D is near the one given in argument. More...

void	toVector (std::vector< float > &pReturnVector) const
	Return the Pose2D as a vector of float [x, y, theta]. More...

std::vector< float >	toVector (void) const

void	writeToVector (std::vector< float >::iterator &pIt) const
	Write [x, y, theta] in the vector and update the iterator. It is assumed the vector has enough space. More...

float	norm () const
	Compute the norm of the current Pose2D. More...

Pose2D	normalize () const
	Normalize the current Pose2D position. More...

float	getAngle (void) const
	Returns the angle of the current Pose2D. More...

Static Public Member Functions
static Pose2D	fromPolarCoordinates (const float pRadius, const float pAngle)
	Create a Pose2D from polar coordinates. More...

Public Attributes
float	x

float	y

float	theta

Detailed Description

A pose in a 2-dimentional space.

On a plane a position is totally defined by the postions x,y and the rotation theta.

Definition at line 25 of file alpose2d.h.

Constructor & Destructor Documentation

AL::Math::Pose2D::Pose2D ( )

Create a Pose2D initialized with 0.0f.

$\left[\begin{array}{c} x \\ y \\ theta \end{array}\right] = \left[\begin{array}{c} 0.0 \\ 0.0 \\ 0.0 \end{array}\right]$

AL::Math::Pose2D::Pose2D ( float pInit )

explicit

Create a Pose2D initialize with the same float.

$\left[\begin{array}{c} x \\ y \\ theta \end{array}\right] = \left[\begin{array}{c} pInit \\ pInit \\ pInit \end{array}\right]$

Parameters

pInit the float value for each member

AL::Math::Pose2D::Pose2D	(	float	pX,
		float	pY,
		float	pTheta
	)

explicit

Create a Pose2D initialized with explicit value.

$\left[\begin{array}{c} x \\ y \\ theta \end{array}\right] = \left[\begin{array}{c} pX \\ pY \\ pTheta \end{array}\right]$

Parameters

pX	the float value for x
pY	the float value for y
pTheta	the float value for theta

AL::Math::Pose2D::Pose2D ( const std::vector< float > & pFloats )

Create a Pose2D with an std::vector.

$\left[\begin{array}{c} x \\ y \\ theta \end{array}\right] = \left[\begin{array}{c} pFloats[0] \\ pFloats[1] \\ pFloats[2] \end{array}\right]$

Parameters

pFloats An std::vector<float> of size 3 for respectively:

x, y and theta

Member Function Documentation

Pose2D AL::Math::Pose2D::diff ( const Pose2D & pPos2 ) const

Compute the Pose2D between the actual Pose2D and the one given in argument:

result: inverse(pPos1)*pPos2

Parameters

pPos2 the second Pose2D

float AL::Math::Pose2D::distance ( const Pose2D & pPos2 ) const

Compute the distance between the actual Pose2D and the one give in argument.

$\sqrt{(pPos1.x-pPos2.x)^2+(pPos1.y-pPos2.y)^2}$

Parameters

pPos2 the second Pose2D

Returns: the float distance between the two Pose2D

float AL::Math::Pose2D::distanceSquared ( const Pose2D & pPos2 ) const

Compute the squared distance between the actual Pose2D and the one give in argument.

This avoids doing the sqrt needed for a true distance.

$(pPos1.x-pPos2.x)^2+(pPos1.y-pPos2.y)^2$

Parameters

pPos2 the second Pose2D

Returns: the float squared distance between the two Pose2D

float AL::Math::Pose2D::getAngle ( void ) const

inline

Returns the angle of the current Pose2D.

result: $$/atan2(pose.y, pose.x)$$

Definition at line 322 of file alpose2d.h.

Pose2D AL::Math::Pose2D::inverse ( ) const

Return the inverse of the Pose2D

bool AL::Math::Pose2D::isNear	(	const Pose2D &	pPos2,
		const float &	pEpsilon = `0.0001f`
	)		const

Check if the actual Pose2D is near the one given in argument.

Parameters

pPos2	the second Pose2D
pEpsilon	an optionnal epsilon distance - default: 0.0001

Returns: true if the distance between the two Pose2D is less than pEpsilon

float AL::Math::Pose2D::norm ( ) const

inline

Compute the norm of the current Pose2D.

result: $$/sqrt(pose.x^{2} + pose.y^{2})$$

Definition at line 301 of file alpose2d.h.

Pose2D AL::Math::Pose2D::normalize ( ) const

Normalize the current Pose2D position.

$pRes = \frac{pPos}{norm(pPos)}$

Returns: the Pose2D normalized

bool AL::Math::Pose2D::operator!= ( const Pose2D & pPos2 ) const

Overloading of operator != for Pose2D.

Parameters

pPos2 the second Pose2D

Pose2D AL::Math::Pose2D::operator* ( const Pose2D & pPos2 ) const

inline

Overloading of operator * for Pose2D.

Parameters

pPos2 the second Pose2D

Definition at line 182 of file alpose2d.h.

Pose2D AL::Math::Pose2D::operator* ( float pVal ) const

inline

Overloading of operator * for Pose2D.

Parameters

pVal	the float factor

Definition at line 206 of file alpose2d.h.

Pose2D& AL::Math::Pose2D::operator*= ( const Pose2D & pPos2 )

Overloading of operator *= for Pose2D.

Parameters

pPos2 the second Pose2D

Pose2D& AL::Math::Pose2D::operator*= ( float pVal )

Overloading of operator *= for Pose2D.

Parameters

pVal	the float factor

Pose2D AL::Math::Pose2D::operator+ ( const Pose2D & pPos2 ) const

inline

Overloading of operator + for Pose2D.

Parameters

pPos2 the second Pose2D

Definition at line 130 of file alpose2d.h.

Pose2D AL::Math::Pose2D::operator+ ( void ) const

inline

Overloading of operator + for Pose2D.

Definition at line 147 of file alpose2d.h.

Pose2D& AL::Math::Pose2D::operator+= ( const Pose2D & pPos2 )

Overloading of operator += for Pose2D.

Parameters

pPos2 the second Pose2D

Pose2D AL::Math::Pose2D::operator- ( const Pose2D & pPos2 ) const

inline

Overloading of operator - for Pose2D.

Parameters

pPos2 the second Pose2D

Definition at line 139 of file alpose2d.h.

Pose2D AL::Math::Pose2D::operator- ( ) const

inline

Overloading of operator - for Pose2D.

Definition at line 155 of file alpose2d.h.

Pose2D& AL::Math::Pose2D::operator-= ( const Pose2D & pPos2 )

Overloading of operator -= for Pose2D.

Parameters

pPos2 the second Pose2D

Pose2D AL::Math::Pose2D::operator/ ( float pVal ) const

Overloading of operator / for Pose2D.

Parameters

pVal	the float factor

Pose2D& AL::Math::Pose2D::operator/= ( float pVal )

Overloading of operator /= for Pose2D.

Parameters

pVal	the float factor

bool AL::Math::Pose2D::operator== ( const Pose2D & pPos2 ) const

Overloading of operator == for Pose2D.

Parameters

pPos2 the second Pose2D

void AL::Math::Pose2D::toVector ( std::vector< float > & pReturnVector ) const

Return the Pose2D as a vector of float [x, y, theta].

std::vector<float> AL::Math::Pose2D::toVector ( void ) const

void AL::Math::Pose2D::writeToVector ( std::vector< float >::iterator & pIt ) const

Write [x, y, theta] in the vector and update the iterator. It is assumed the vector has enough space.

Member Data Documentation

float AL::Math::Pose2D::theta

Definition at line 31 of file alpose2d.h.

float AL::Math::Pose2D::x

Definition at line 27 of file alpose2d.h.

float AL::Math::Pose2D::y

Definition at line 29 of file alpose2d.h.

The documentation for this struct was generated from the following file:

/home/opennao/work/master/lib/libalmath/almath/types/alpose2d.h

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation