#include <pose2d.h>

Description

Class representing a pose in 2d space with x, y, and rotational components

Assumes conventional cartesian coordinate system: Looking down at the coordinate plane, +X is right +Y is up +Theta is counterclockwise

Public Member Functions
constexpr	Pose2d ()
	Default Constructor for Pose2d.
constexpr	Pose2d (Translation2d translation, Rotation2d rotation)
constexpr	Pose2d (units::Length x, units::Length y, Rotation2d rotation)
constexpr	Pose2d (units::Length x, units::Length y, double radians)
constexpr	Pose2d (const Eigen::Vector3d &pose_vector, units::Length length_unit, units::Angle angle_unit=units::radians)
constexpr units::Length	x () const
	Gets the x value of the translation.
constexpr double	x (units::Length unit) const
	Gets x in the supplied length unit.
constexpr void	set_x (units::Length val)
	Sets the x value of the translation.
constexpr units::Length	y () const
	Gets the y value of the translation.
constexpr double	y (units::Length unit) const
	Gets y in the supplied length unit.
constexpr void	set_y (units::Length val)
	Sets the y value of the translation.
constexpr Translation2d	translation () const
	Gets the translation.
constexpr void	set_translation (Translation2d val)
	Sets the translation.
constexpr Rotation2d	rotation () const
	Gets the rotation.
constexpr void	set_rotation (Rotation2d val)
	Sets the rotation.
constexpr units::Angle	angle () const
	Gets the heading as an angle.
constexpr double	angle (units::Angle unit) const
	Gets the angle in the supplied unit.
constexpr void	set_angle (units::Angle val)
	Sets the rotation as an angle.
EVec< 3 >	as_vector (units::Length length_unit, units::Angle angle_unit=units::radians) const
	Gets [x, y, theta] in the supplied units. Angles default to radians.
constexpr units::Length	distance (Translation2d point) const
	Calculates the distance from the pose to another point.
constexpr units::Length	distance (const Pose2d &other) const
	Calculates the distance from this to another pose, ignoring rotation.
constexpr Rotation2d	bearing_to (Translation2d point) const
	Calculates the bearing from this to another point in the world frame.
constexpr units::Angle	angle_to (Translation2d point) const
	Calculates the smallest angle to another point in the local frame.
constexpr Translation2d	local_to_world (Translation2d point) const
	Converts a point from this pose's local frame to the world frame.
constexpr Translation2d	world_to_local (Translation2d point) const
	Converts a point from the world frame to this pose's local frame.
constexpr Pose2d	relative_to (const Pose2d &other) const
constexpr Pose2d	transform_by (const Transform2d &transform) const
constexpr Pose2d	interpolate (const Pose2d &end, double fraction) const
constexpr Pose2d	exp (const Twist2d &twist) const
constexpr Twist2d	log (const Transform2d &transform) const
constexpr Pose2d	operator+ (const Transform2d &transform) const
	Adds a transform to this pose by rotating it into the pose frame then adding.
constexpr Pose2d &	operator+= (const Transform2d &transform)
	Adds a transform to this pose by rotating it into the pose frame then adding.
constexpr Transform2d	operator- (const Pose2d &other) const
	Subtracts another pose from this to find the transform between them.
constexpr bool	operator== (const Pose2d &other) const
	Checks exact equality between this and another pose.
constexpr bool	is_near (const Pose2d &other, units::Length distance_tolerance=units::Length(1e-6), units::Angle angle_tolerance=units::Angle(1e-6)) const

Static Public Member Functions
static Pose2d	wrapped_mean (const std::vector< Pose2d > &list)

Constructor & Destructor Documentation

◆ Pose2d() [1/4]

Pose2d::Pose2d	(	Translation2d	translation,
		Rotation2d	rotation )

inlineconstexpr

Constructs a pose with given translation and rotation components.

Parameters

translation	translational component.
rotation	rotational component.

◆ Pose2d() [2/4]

Pose2d::Pose2d	(	units::Length	x,
		units::Length	y,
		Rotation2d	rotation )

inlineconstexpr

Constructs a pose with given translation and rotation components.

Parameters

x	x component.
y	y component.
rotation	rotational component.

◆ Pose2d() [3/4]

Pose2d::Pose2d	(	units::Length	x,
		units::Length	y,
		double	radians )

inlineconstexpr

Constructs a pose with given translation and rotation components.

Parameters

x	x component.
y	y component.
radians	rotational component in radians.

◆ Pose2d() [4/4]

Pose2d::Pose2d	(	const Eigen::Vector3d &	pose_vector,
		units::Length	length_unit,
		units::Angle	angle_unit = units::radians )

inlineconstexpr

Constructs a pose with given translation and rotation components in a vector, using the supplied units.

Parameters

pose_vector	vector of the form [x, y, theta].
length_unit	unit of length to use.
angle_unit	unit of angle to use, defaults to radians.

Member Function Documentation

◆ exp()

Pose2d Pose2d::exp ( const Twist2d & twist ) const

inlineconstexpr

Applies a twist (pose delta) to a pose by integrating constant velocity and angular velocity in the robot's frame of motion.

When applying a twist, imagine a constant angular velocity, the translational components must be rotated into the global frame at every point along the twist, simply adding the deltas does not do this, and using euler integration results in some error. This is the analytic solution for integrating along an arc.

Can also be thought of more simply as following an arc rather than a straight line.

See this document for more information on the pose exponential and its derivation. https://file.tavsys.net/control/controls-engineering-in-frc.pdf#section.10.2

Parameters

twist The twist, represents a pose delta.

Returns: new pose that has been moved forward according to the twist.

◆ interpolate()

Pose2d Pose2d::interpolate	(	const Pose2d &	end,
		double	fraction ) const

inlineconstexpr

Interpolates position along a straight line and heading along the shortest turn. Fractions outside [0, 1] return the nearest endpoint.

Does NOT move along an arc like a Twist, it's a straight line.

◆ is_near()

bool Pose2d::is_near	(	const Pose2d &	other,
		units::Length	distance_tolerance = units::Length(1e-6),
		units::Angle	angle_tolerance = units::Angle(1e-6) ) const

inlineconstexpr

Checks translation distance and the smallest angle against tolerances. Defaults to 1um and 1e-6 radians.

◆ log()

Twist2d Pose2d::log ( const Transform2d & transform ) const

inlineconstexpr

The inverse of the pose exponential.

Determines the twist required to go from this pose to the given end pose.

Parameters

end_pose the end pose to find the mapping to.

Returns: the twist required to go from this pose to the given end

◆ relative_to()

Pose2d Pose2d::relative_to ( const Pose2d & other ) const

inlineconstexpr

Finds this pose in the frame of another pose rather than the origin.

Parameters

other new origin.

Returns: this pose relative to other.

◆ transform_by()

Pose2d Pose2d::transform_by ( const Transform2d & transform ) const

inlineconstexpr

Adds a transform to this pose. Rotates the transform's translation into the pose's frame, then adds the translation and rotation.

Parameters

transform the change in pose.

Returns: the pose after being transformed.

◆ wrapped_mean()

Pose2d Pose2d::wrapped_mean ( const std::vector< Pose2d > & list )

inlinestatic

Calculates the mean of a list of poses.

Parameters

list	std::vector containing a list of poses.

Returns: the single pose mean of the list of poses.

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

core/math/geometry/pose2d.h

Description

Public Member Functions

Static Public Member Functions

Constructor & Destructor Documentation

◆ Pose2d() [1/4]

◆ Pose2d() [2/4]

◆ Pose2d() [3/4]

◆ Pose2d() [4/4]

Member Function Documentation

◆ exp()

◆ interpolate()

◆ is_near()

◆ log()

◆ relative_to()

◆ transform_by()

◆ wrapped_mean()