Pose2D Class Reference

representation for 2D Transformation and Position (Location + Orientation) More...

#include <Pose2D.h>

Inheritance diagram for Pose2D:

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[legend]List of all members.

Public Member Functions
	Pose2D ()
	noargs-constructor
	Pose2D (const double rot, const Vector2< double > &trans)
	constructor from rotation and translation
	Pose2D (const double rot, const double x, const double y)
	constructor from rotation and translation
	Pose2D (const double rot)
	constructor from rotation
	Pose2D (const Vector2< double > &trans)
	constructor from translation
	Pose2D (const Vector2< int > &trans)
	constructor from translation
	Pose2D (const double x, const double y)
	constructor from two translation values
double	getAngle () const
	get the Angle
Pose2D	fromAngle (const double a)
	set rotation from Angle
double	getCos () const
	get the cos of the angle
double	getSin () const
	get the sin of the angle
Pose2D &	operator= (const Pose2D &other)
	Assignment operator.
	Pose2D (const Pose2D &other)
	Copy constructor.
Vector2< double >	operator * (const Vector2< double > &point) const
	Multiplication of a Vector2 with this Pose2D.
bool	operator== (const Pose2D &other) const
	Comparison of another pose with this one.
bool	operator!= (const Pose2D &other) const
	Comparison of another pose with this one.
Pose2D &	operator+= (const Pose2D &other)
	Concatenation of this pose with another pose.
Pose2D	operator+ (const Pose2D &other) const
	A concatenation of this pose and another pose.
Pose2D	minusDiff (const Pose2D &diff) const
	Subtracts a difference pose from this one to get the source pose.
Pose2D &	operator-= (const Pose2D &other)
	Difference of this pose relative to another pose.
Pose2D	operator- (const Pose2D &other) const
	Difference of this pose relative to another pose.
Pose2D &	conc (const Pose2D &other)
	Concatenation of this pose with another pose.
Pose2D &	translate (const Vector2< double > &trans)
	Translate this pose by a translation vector.
Pose2D &	translate (const double x, const double y)
	Translate this pose by a translation vector.
Pose2D &	rotate (const double angle)
	Rotate this pose by a rotation.
Static Public Member Functions
Pose2D	random (const Range< double > &x, const Range< double > &y, const Range< double > &angle)
	The function creates a random pose.
Public Attributes
double	rotation
	Rotation as an angle.
Vector2< double >	translation
	translation as an vector2

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Detailed Description

representation for 2D Transformation and Position (Location + Orientation)

Definition at line 23 of file Pose2D.h.

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Constructor & Destructor Documentation

Pose2D::Pose2D (   )  [inline]

noargs-constructor Definition at line 33 of file Pose2D.h. References rotation, and translation. Referenced by minusDiff(), operator+(), operator-(), and random().

Pose2D::Pose2D (  const double  rot, const Vector2< double > &  trans )  [inline]

constructor from rotation and translation Parameters: rot  rotation (double) trans  translation (Vector2) Definition at line 40 of file Pose2D.h. References rotation, and translation.

Pose2D::Pose2D (  const double  rot, const double  x, const double  y )  [inline]

constructor from rotation and translation Parameters: rot  rotation (double) x  translation.x (double) y  translation.y (double) Definition at line 47 of file Pose2D.h. References rotation, and translation.

Pose2D::Pose2D (  const double  rot  )  [inline]

constructor from rotation Parameters: rot  rotation (double) Definition at line 54 of file Pose2D.h. References rotation, and translation.

Pose2D::Pose2D (  const Vector2< double > &  trans  )  [inline]

constructor from translation Parameters: trans  translation (Vector2) Definition at line 60 of file Pose2D.h. References rotation, and translation.

Pose2D::Pose2D (  const Vector2< int > &  trans  )  [inline]

constructor from translation Parameters: trans  translation (Vector2) Definition at line 66 of file Pose2D.h. References rotation, and translation.

Pose2D::Pose2D (  const double  x, const double  y )  [inline]

constructor from two translation values Parameters: x  translation x component y  translation y component Definition at line 72 of file Pose2D.h. References rotation, and translation.

Pose2D::Pose2D (  const Pose2D &  other  )  [inline]

Copy constructor. Parameters: other  The other vector that is copied to this one Definition at line 109 of file Pose2D.h.

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Member Function Documentation

double Pose2D::getAngle (   )  const [inline]

get the Angle Returns: Angle the Angle which defines the rotation Definition at line 77 of file Pose2D.h. References rotation. Referenced by KalmanConstantSpeedModel::adapt(), GT2004SelfLocator::calcPose(), AngleSymbols::calculateCombinedAngles(), GT2004ObstaclesLocator::determineFreePartsOfGoals(), AngleSymbols::drawAngleShownByLeds(), ChallengeSpecialVision::executeFindOrientation(), ChallengeSpecialVision::executeLearnOrientation(), GT2004ConfigurationSymbols::getOwnKickoffAngleByObstacles(), GT2004SelfLocator::getTemplate(), GT2004HeadControl::simpleLookAtPointOnField(), InvKinWalkingEngine::smoothMotionRequest(), GT2004ConfigurationSymbols::update(), GT2004SelfLocator::updateByOdometry(), and GT2004SelfLocator::updateByPoint().

Pose2D Pose2D::fromAngle (  const double  a  )  [inline]

set rotation from Angle Returns: the new Pose2D Definition at line 83 of file Pose2D.h. References rotation. Referenced by GT2004ConfigurationSymbols::update().

double Pose2D::getCos (   )  const [inline]

get the cos of the angle Returns: the cos of the angle Definition at line 88 of file Pose2D.h. References rotation. Referenced by GT2004SelfLocator::calcPose().

double Pose2D::getSin (   )  const [inline]

get the sin of the angle Returns: the sin of the angle Definition at line 93 of file Pose2D.h. References rotation. Referenced by GT2004SelfLocator::calcPose().

Pose2D& Pose2D::operator= (  const Pose2D &  other  )  [inline]

Assignment operator. Parameters: other  The other Pose2D that is assigned to this one Returns: A reference to this object after the assignment. Reimplemented in RobotPose. Definition at line 99 of file Pose2D.h. References rotation, and translation.

Vector2<double> Pose2D::operator * (  const Vector2< double > &  point  )  const [inline]

Multiplication of a Vector2 with this Pose2D. Parameters: point  The Vector2 that will be multiplicated with this Pose2D Returns: The resulting Vector2 Definition at line 116 of file Pose2D.h. References point, rotation, translation, Vector2< int >::x, and Vector2< int >::y.

bool Pose2D::operator== (  const Pose2D &  other  )  const [inline]

Comparison of another pose with this one. Parameters: other  The other pose that will be compared to this one Returns: Whether the two poses are equal. Definition at line 127 of file Pose2D.h. References rotation, and translation.

bool Pose2D::operator!= (  const Pose2D &  other  )  const [inline]

Comparison of another pose with this one. Parameters: other  The other pose that will be compared to this one Returns: Whether the two poses are unequal. Definition at line 136 of file Pose2D.h.

Pose2D& Pose2D::operator+= (  const Pose2D &  other  )  [inline]

Concatenation of this pose with another pose. Parameters: other  The other pose that will be concatenated to this one. Returns: A reference to this pose after concatenation. Definition at line 143 of file Pose2D.h. References normalize(), rotation, and translation.

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Pose2D Pose2D::operator+ (  const Pose2D &  other  )  const [inline]

A concatenation of this pose and another pose. Parameters: other  The other pose that will be concatenated to this one. Returns: The resulting pose. Definition at line 155 of file Pose2D.h. References Pose2D().

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Pose2D Pose2D::minusDiff (  const Pose2D &  diff  )  const [inline]

Subtracts a difference pose from this one to get the source pose. So if A+B=C is the addition/concatenation, this calculates C-B=A. Parameters: diff  The difference Pose2D that shall be subtracted. Returns: The resulting source pose. Adding diff to it again would give the this pose back. Definition at line 162 of file Pose2D.h. References Pose2D(), rotation, translation, Vector2< double >::x, and Vector2< double >::y. Referenced by KickLogger::execute(), and Parcour::getMotionRequest().

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Pose2D& Pose2D::operator-= (  const Pose2D &  other  )  [inline]

Difference of this pose relative to another pose. So if A+B=C is the addition/concatenation, this calculates C-A=B. Parameters: other  The other pose that will be used as origin for the new pose. Returns: A reference to this pose after calculating the difference. Definition at line 177 of file Pose2D.h. References rotation, and translation.

Pose2D Pose2D::operator- (  const Pose2D &  other  )  const [inline]

Difference of this pose relative to another pose. Parameters: other  The other pose that will be used as origin for the new pose. Returns: The resulting pose. Definition at line 188 of file Pose2D.h. References Pose2D().

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Pose2D& Pose2D::conc (  const Pose2D &  other  )  [inline]

Concatenation of this pose with another pose. Parameters: other  The other pose that will be concatenated to this one. Returns: A reference to this pose after concatenation Definition at line 195 of file Pose2D.h. Referenced by InvKinWalkingEngine::executeParameterized(), GT2004WalkingEngine::executeParameterized(), and GT2003MotionNetSpecialActions::executeParameterized().

Pose2D& Pose2D::translate (  const Vector2< double > &  trans  )  [inline]

Translate this pose by a translation vector. Parameters: trans  Vector to translate with Returns: A reference to this pose after translation Definition at line 202 of file Pose2D.h. References translation.

Pose2D& Pose2D::translate (  const double  x, const double  y )  [inline]

Translate this pose by a translation vector. Parameters: x  x component of vector to translate with y  y component of vector to translate with Returns: A reference to this pose after translation Definition at line 213 of file Pose2D.h. References translation.

Pose2D& Pose2D::rotate (  const double  angle  )  [inline]

Rotate this pose by a rotation. Parameters: angle  Angle to rotate. Returns: A reference to this pose after rotation Definition at line 224 of file Pose2D.h. References rotation.

Pose2D Pose2D::random (  const Range< double > &  x, const Range< double > &  y, const Range< double > &  angle )  [inline, static]

The function creates a random pose. Parameters: x  The range for x-values of the pose. y  The range for y-values of the pose. angle  The range for the rotation of the pose. Definition at line 236 of file Pose2D.h. References Range< T >::max, Range< T >::min, Pose2D(), and random(). Referenced by GT2004SelfLocator::getTemplate(), and Field::randomPose().

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Member Data Documentation

double Pose2D::rotation

Rotation as an angle. Definition at line 27 of file Pose2D.h. Referenced by GT2004HeadControl::beginBallSearchAt(), GT2004HeadControl::calculateClosestLandmark(), InvKinWalkingEngine::calculateLegSpeeds(), GT2004WalkingEngine::calculateLegSpeeds(), GT2004ParametersSet::calculateMergedParameterSet(), ChallengeSymbols::challenge2OptimalRotation(), GTStandardConverter::execute(), ObstacleAvoiderOnGreenFieldERS7::execute(), ObstacleAvoiderOnGreenField::execute(), SpecialPerceptSelfLocator::execute(), CheckerboardDetector::execute(), GT2004CollisionDetector::execute(), GT2004BasicBehaviorGoToPoint::execute(), GT2004BasicBehaviorGoToPointAndAvoidObstacles::execute(), GT2004BasicBehaviorGoForwardToPoint::execute(), GT2004BasicBehaviorTurnAroundPoint::execute(), GT2004BasicBehaviorGoaliePositionReturn::execute(), GT2004BasicBehaviorGoaliePosition::execute(), GT2004BasicBehaviorGoToBallWithoutTurning::execute(), GT2004BasicBehaviorGoToBall::execute(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), GT2004BasicBehaviorNextGT2004ParametersToBeMeasured::execute(), GT2004BasicBehaviorSendCurrentGT2004ParametersAndChooseNext::execute(), GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute(), GT2004BasicBehaviorMeasureGT2004Parameters::execute(), GT2004BasicBehaviorEvolveOmniParameters::execute(), BasicBehaviorStand::execute(), BasicBehaviorWalk::execute(), MSH2004InvKinWalkingEngine::executeParameterized(), InvKinWalkingEngine::executeParameterized(), GT2004WalkingEngine::executeParameterized(), BB2004InvKinWalkingEngine::executeParameterized(), fromAngle(), getAngle(), RobotPoseSymbols::getAngle(), Field::getClosestPoint(), getCos(), EvolutionSymbols::getCurrentGT2004ParametersMeasureBlind(), Parcour::getMotionRequest(), GT2004ParametersSet::getRatio(), GT2004HeadControlSymbols::getRelativeBallSpeedX(), GT2004HeadControlSymbols::getRelativeBallSpeedY(), MotionRecognition::getRobotRotationFromOdometry(), MotionRecognition::getRobotTranslationFromOdometry(), BallSymbols::getSeenRelativeSpeedX(), BallSymbols::getSeenRelativeSpeedY(), getSin(), GT2004ParametersSet::getSpeed(), SimpleBackwardParcour::getTargetPose(), ForwardTurningParcour::getTargetPose(), GT2004BehaviorControl::handleMessage(), GT2004BallLocator::handleSeenBall(), GT2004BallLocator::handleUnseenBall(), GT2004Parameters::interpolate(), BB2004InvKinWalkingEngine::learn(), InvKinWalkingEngine::limitToMaxSpeed(), minusDiff(), GT2004ParametersSet::mirrorThis(), GT2004ObstaclesLocator::moveObstaclesByOdometry(), OdometrySelfLocator::OdometrySelfLocator(), operator *(), operator+=(), operator-=(), operator<<(), operator=(), operator==(), operator>>(), Pose2D(), MotionRequest::printOut(), TeamMessage::read(), Geometry::relative2FieldCoord(), GT2004Parameters::reportRealMotion(), WalkAccelerationRestrictor::restrictAccelerations(), rotate(), LogPlayer::saveCSV(), WalkAccelerationRestrictor::saveLastWalkParameters(), GTStandardConverter::setData(), GT2004ParametersSet::setDirection(), PlayerPose::setPose(), GT2004ParametersSet::setRatio(), GT2004ParametersSet::setSpeed(), InvKinWalkingEngine::smoothMotionRequest(), GT2004WalkingEngine::smoothMotionRequest(), Parcour::update(), OpenChallengeSymbols::update(), EvolutionSymbols::update(), RobotPoseSymbols::updateGoalieDefendPosition(), BB2004InvKinWalkingEngine::updateOdometry(), and TeamMessage::write().

Vector2<double> Pose2D::translation

translation as an vector2 Definition at line 30 of file Pose2D.h. Referenced by Geometry::angleTo(), GT2004HeadControl::beginBallSearchAt(), GT2004SelfLocator::calcPose(), GT2004HeadControl::calculateClosestLandmark(), AngleSymbols::calculateCombinedAngles(), InvKinWalkingEngine::calculateLegSpeeds(), GT2004WalkingEngine::calculateLegSpeeds(), GT2004ParametersSet::calculateMergedParameterSet(), ChallengeSymbols::challenge2OptimalRotation(), ChallengeSymbols::challenge2ShortestPermutation(), ChallengeSymbols::challenge2TargetPositionX(), ChallengeSymbols::challenge2TargetPositionY(), ChallengeSymbols::ChallengeSymbols(), Field::clip(), GT2004StrategySymbols::computeRole(), GT2004ObstaclesLocator::determineNextFreeTeammate(), FieldDimensions::distanceToOwnPenaltyArea(), Field::draw(), ObservationTable< 280, 200, 25 >::draw(), GT2004SelfLocator::draw(), AngleSymbols::drawAngleShownByLeds(), LandmarksPercept::estimateOffsetForFlags(), GT2004FlagSpecialist::estimateOffsetForFlags(), LandmarksPercept::estimateOffsetForGoals(), GT2004StrategySymbols::estimateTimeToReachBall(), GTStandardConverter::execute(), ObstacleAvoiderOnGreenFieldERS7::execute(), ObstacleAvoiderOnGreenField::execute(), SpecialPerceptSelfLocator::execute(), NoOdometrySelfLocator::execute(), GT2004PlayersLocator::execute(), CheckerboardDetector::execute(), GT2004CollisionDetector::execute(), GT2004BasicBehaviorGoToPoint::execute(), GT2004BasicBehaviorGoToPointAndAvoidObstacles::execute(), GT2004BasicBehaviorGoForwardToPoint::execute(), GT2004BasicBehaviorTurnAroundPoint::execute(), GT2004BasicBehaviorGoaliePositionReturn::execute(), GT2004BasicBehaviorGoaliePosition::execute(), GT2004BasicBehaviorGoToBallWithoutTurning::execute(), GT2004BasicBehaviorGoToBall::execute(), GT2004PotentialFieldBasicBehaviorOffensiveSupport::execute(), GT2004PotentialFieldBasicBehaviorSupport::execute(), GT2004PotentialFieldBasicBehaviorGoToPose::execute(), GT2004BasicBehaviorNextGT2004ParametersToBeMeasured::execute(), GT2004BasicBehaviorSendCurrentGT2004ParametersAndChooseNext::execute(), GT2004BasicBehaviorMeasureGT2004ParametersBlind::execute(), GT2004BasicBehaviorMeasureGT2004Parameters::execute(), GT2004BasicBehaviorEvolveOmniParameters::execute(), BasicBehaviorStand::execute(), BasicBehaviorWalk::execute(), MSH2004InvKinWalkingEngine::executeParameterized(), InvKinWalkingEngine::executeParameterized(), GT2004WalkingEngine::executeParameterized(), BB2004InvKinWalkingEngine::executeParameterized(), GT2004StrategySymbols::getAngleToTeammate(), Field::getClosestPoint(), GT2004HeadControlSymbols::getCommunicatedBallDistance(), EvolutionSymbols::getCurrentGT2004ParametersMeasureBlind(), GT2004ParametersSet::getDirection(), RobotPoseSymbols::getDistanceToOwnPenaltyArea(), Parcour::getMotionRequest(), GT2004ConfigurationSymbols::getOwnKickoffXByObstacles(), GT2004ConfigurationSymbols::getOwnKickoffYByObstacles(), GT2004ParametersSet::getRatio(), MotionRecognition::getRobotTranslationFromOdometry(), GT2004ParametersSet::getSpeed(), SimpleBackwardParcour::getTargetPose(), ForwardTurningParcour::getTargetPose(), GT2004SelfLocator::getTemplate(), GT2004Parameters::getValue(), GT2004BehaviorControl::handleMessage(), GT2004Parameters::interpolate(), InvKinWalkingParameters::InvKinWalkingParameters(), Field::isReallyInside(), BB2004InvKinWalkingEngine::learn(), InvKinWalkingEngine::limitToMaxSpeed(), minusDiff(), GT2004ParametersSet::mirrorThis(), GT2004ObstaclesLocator::moveObstaclesByOdometry(), OdometrySelfLocator::OdometrySelfLocator(), operator *(), operator+=(), operator-=(), operator<<(), operator=(), operator==(), operator>>(), Pose2D(), MotionRequest::printOut(), Field::randomPose(), TeamMessage::read(), GT2003MotionNetSpecialActions::readOdometryTable(), RobotPoseSymbols::registerSymbols(), Geometry::relative2FieldCoord(), GT2004Parameters::reportRealMotion(), WalkAccelerationRestrictor::restrictAccelerations(), LogPlayer::saveCSV(), WalkAccelerationRestrictor::saveLastWalkParameters(), GTStandardConverter::setData(), GT2004ParametersSet::setDirection(), PlayerPose::setPose(), GT2004ParametersSet::setRatio(), GT2004ParametersSet::setSpeed(), GT2004Parameters::setValue(), GT2004HeadControl::simpleLookAtPointOnField(), InvKinWalkingEngine::smoothMotionRequest(), GT2004WalkingEngine::smoothMotionRequest(), translate(), Parcour::update(), GT2004ConfigurationSymbols::update(), EvolutionSymbols::update(), GT2004SelfLocator::updateByFlag(), GT2004SelfLocator::updateByGoalPost(), GT2004SelfLocator::updateByOdometry(), GT2004SelfLocator::updateByPoint(), RobotPoseSymbols::updateGoalieDefendPosition(), BB2004InvKinWalkingEngine::updateOdometry(), and TeamMessage::write().

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

• Tools/Math/Pose2D.h

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