RobWorkProject
24.8.23-
|
A Pose3D \( \mathbf{x}\in \mathbb{R}^6 \) describes a position and orientation in 3-dimensions. More...
#include <Pose2D.hpp>
Public Member Functions | |
Pose2D () | |
Zero-initialized Pose2D. | |
Pose2D (rw::math::Vector2D< T > pos, T theta) | |
Constructor. More... | |
Pose2D (T x, T y, T theta) | |
Constructor. More... | |
Pose2D (const rw::math::Transform2D< T > &transform) | |
Constructor. More... | |
T & | x () |
Get the first dimension of the position vector. More... | |
T & | y () |
Get the second dimension of the position vector. More... | |
T & | theta () |
Get the angle. More... | |
rw::math::Vector2D< T > & | getPos () |
Get the position vector. More... | |
T | x () const |
Get the first dimension of the position vector. More... | |
T | y () const |
Get the second dimension of the position vector. More... | |
T | theta () const |
Get the angle. More... | |
const rw::math::Vector2D< T > & | getPos () const |
Get the position vector. More... | |
const T & | operator() (size_t i) const |
Returns reference to vector element (x,y,theta) More... | |
T & | operator() (size_t i) |
Returns reference to vector element. More... | |
const T & | operator[] (size_t i) const |
Returns reference to vector element. More... | |
T & | operator[] (size_t i) |
Returns reference to vector element. More... | |
Eigen::Matrix< T, 3, 1 > | e () const |
return a Eigen vector of (x, y, theta). More... | |
Static Public Member Functions | |
static rw::math::Transform2D< T > | transform (const Pose2D< T > &pose) |
The transform corresponding to the pose. More... | |
Friends | |
std::ostream & | operator<< (std::ostream &os, const Pose2D< T > &pose) |
Ouputs Pose2D to stream. More... | |
Related Functions | |
(Note that these are not member functions.) | |
template<> | |
void | write (const rw::math::Pose2D< double > &sobject, rw::common::OutputArchive &oarchive, const std::string &id) |
template<> | |
void | write (const rw::math::Pose2D< float > &sobject, rw::common::OutputArchive &oarchive, const std::string &id) |
template<> | |
void | read (rw::math::Pose2D< double > &sobject, rw::common::InputArchive &iarchive, const std::string &id) |
template<> | |
void | read (rw::math::Pose2D< float > &sobject, rw::common::InputArchive &iarchive, const std::string &id) |
A Pose3D \( \mathbf{x}\in \mathbb{R}^6 \) describes a position and orientation in 3-dimensions.
\( {\mathbf{x}} = \left[ \begin{array}{c} x \\ y \\ z \\ \theta k_x \\ \theta k_y \\ \theta k_z \end{array} \right] \)
where \( (x,y,z)\) is the 3d position and \( (\theta k_x, \theta k_y, \theta k_z)\) describes the orientation in equal angle axis (EAA) format.
|
inline |
Constructor.
pos | [in] the position. |
theta | [in] the angle. |
|
inline |
Constructor.
x | [in] the value of the first position dimension. |
y | [in] the value of the second position dimension. |
theta | [in] the angle. |
|
inline |
Constructor.
transform | [in] a 2D transform giving the pose. |
|
inline |
return a Eigen vector of (x, y, theta).
|
inline |
Get the position vector.
|
inline |
Get the position vector.
|
inline |
Returns reference to vector element.
i | [in] index in the vector \(i\in \{0,1\} \) |
|
inline |
Returns reference to vector element (x,y,theta)
i | [in] index in the vector \(i\in \{0,1,2\} \) |
|
inline |
Returns reference to vector element.
i | [in] index in the vector \(i\in \{0,1,2\} \) |
|
inline |
Returns reference to vector element.
i | [in] index in the vector \(i\in \{0,1,2\} \) |
|
inline |
Get the angle.
|
inline |
Get the angle.
|
inlinestatic |
The transform corresponding to the pose.
pose | [in] the pose. |
|
inline |
Get the first dimension of the position vector.
|
inline |
Get the first dimension of the position vector.
|
inline |
Get the second dimension of the position vector.
|
inline |
Get the second dimension of the position vector.
|
friend |
Ouputs Pose2D to stream.
os | [in/out] stream to use |
pose | [in] pose to output. |
|
related |
Enable read-serialization of class T by overloading this method. Data is read from iarchive and filled into sobject.
sobject | [out] the object in which the data should be streamed into |
iarchive | [in] the InputArchive from which to read data. |
id | [in] The id of the serialized sobject. |
|
related |
Enable read-serialization of class T by overloading this method. Data is read from iarchive and filled into sobject.
sobject | [out] the object in which the data should be streamed into |
iarchive | [in] the InputArchive from which to read data. |
id | [in] The id of the serialized sobject. |
|
related |
Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.
sobject | [in] the object from which the data should be streamed. |
oarchive | [out] the OutputArchive in which data should be written. |
id | [in] The id of the serialized sobject. |
|
related |
Enable write-serialization of class T by overloading this method. Data is written to oarchive from the sobject.
sobject | [in] the object from which the data should be streamed. |
oarchive | [out] the OutputArchive in which data should be written. |
id | [in] The id of the serialized sobject. |