POSE2 Class Reference

A 2D rigid body pose. More...

#include <Pose2.h>

Inheritance diagram for POSE2:

Public Member Functions
	POSE2 ()
	Default constructor. More...
	POSE2 (const POSE2 &source)
	POSE2 (const ROT2 &r, const ORIGIN2 &x, boost::shared_ptr< const POSE2 > relative_pose=boost::shared_ptr< const POSE2 >())
	Constructs a 2D pose from a rotation and translation vector.
	POSE2 (const ORIGIN2 &x, boost::shared_ptr< const POSE2 > relative_pose=boost::shared_ptr< const POSE2 >())
	Constructs a 2D pose using identity orientation and a translation vector.
	POSE2 (const ROT2 &r, boost::shared_ptr< const POSE2 > relative_pose=boost::shared_ptr< const POSE2 >())
	Constructs a 2D pose from a rotation and zero translation.
VECTOR2	transform_point (const VECTOR2 &v) const
	Transforms a point from one pose to another.
VECTOR2	transform_vector (const VECTOR2 &v) const
	Transforms a vector from one pose to another.
VECTOR2	inverse_transform_point (const VECTOR2 &v) const
	Transforms a point from one pose to another.
VECTOR2	inverse_transform_vector (const VECTOR2 &v) const
	Transforms a vector from one pose to another.
POSE2 &	set_identity ()
	Sets this matrix to identity.
POSE2 &	invert ()
	Special method for inverting a 2D pose in place.
POSE2	inverse () const
POSE2 &	set (const ROT2 &r, const ORIGIN2 &v)
	Sets the pose from a rotation and translation vector.
POSE2 &	set (const ROT2 &r)
	Sets this pose from a rotation only (translation will be zero'd)
POSE2 &	operator= (const POSE2 &source)
POSE2	operator* (const POSE2 &m) const
	Transforms this pose by another.

Static Public Member Functions
static POSE2	identity ()
static REAL	wrap (REAL theta)
	Wraps an angle to [-pi, pi].
static bool	rel_equal (const POSE2 &p1, const POSE2 &p2, REAL tol=EPS)
	Determines whether two poses in 2D are relatively equivalent.
static VECTOR2	transform_point (boost::shared_ptr< const POSE2 > target, const VECTOR2 &v)
	Transforms a point from one pose to another.
static VECTOR2	transform_vector (boost::shared_ptr< const POSE2 > target, const VECTOR2 &v)
	Applies this pose to a vector.
static POSE2	invert (const POSE2 &m)
	Special method for inverting a 2D pose.
static VECTOR2	interpolate_transform_vector (const POSE2 &P1, const POSE2 &P2, REAL t, const ORIGIN2 &o)
	Tranforms a vector with an interpolated pose (between poses P1 and P2) More...
static VECTOR2	interpolate_transform_point (const POSE2 &P1, const POSE2 &P2, REAL t, const ORIGIN2 &o)
	Tranforms a point with an interpolated pose (between poses P1 and P2) More...

Public Attributes
ROT2	r
	the orientation of the pose frame
ORIGIN2	x
	the position of the pose frame
boost::shared_ptr< const POSE2 >	rpose
	the pose that this pose is relative to (if any)

Detailed Description

A 2D rigid body pose.

Constructor & Destructor Documentation

POSE2::POSE2

(

)

Default constructor.

Sets matrix to the identity matrix

References set_identity().

Referenced by invert(), and operator*().

Member Function Documentation

VECTOR2 POSE2::interpolate_transform_point ( const POSE2 &  P1, const POSE2 &  P2, REAL  t, const ORIGIN2 &  o  )

static

Tranforms a point with an interpolated pose (between poses P1 and P2)

Parameters

P1	the pose to use when t=0
P2	the pose to use when t=1
t	interpolation value
o	the point to transform

Returns

the transformed point

References r, rpose, ROT2::theta, wrap(), and x.

VECTOR2 POSE2::interpolate_transform_vector ( const POSE2 &  P1, const POSE2 &  P2, REAL  t, const ORIGIN2 &  o  )

static

Tranforms a vector with an interpolated pose (between poses P1 and P2)

Parameters

P1	the pose to use when t=0
P2	the pose to use when t=1
t	interpolation value
o	the vector to transform

Returns

the transformed vector

References r, rpose, ROT2::theta, and wrap().

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The documentation for this class was generated from the following files:

• /home/drum/Ravelin.new/include/Ravelin/Pose2.h
• /home/drum/Ravelin.new/src/Pose2.cpp