Transform2d Class Reference

#include <transform2d.h>

Description

Class representing a transformation of a pose2d, by rotating a translation into the frame of the pose2d, then adding the translation, then rotating by theta.

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

Public Member Functions
constexpr	Transform2d ()=default
	Default Constructor for Transform2d.
constexpr	Transform2d (Translation2d translation, Rotation2d rotation)
constexpr	Transform2d (units::Length x, units::Length y, Rotation2d rotation)
constexpr	Transform2d (units::Length x, units::Length y, units::Angle angle)
constexpr	Transform2d (Translation2d translation, units::Angle angle)
constexpr	Transform2d (const Eigen::Vector3d &transform_vector, units::Length unit, units::Angle angle_unit=units::radians)
constexpr units::Length	x () const
	Gets the x component.
constexpr double	x (units::Length unit) const
	Gets x in the supplied length unit.
constexpr void	set_x (units::Length val)
	Sets the x component.
constexpr units::Length	y () const
	Gets the y component.
constexpr double	y (units::Length unit) const
	Gets y in the supplied length unit.
constexpr void	set_y (units::Length val)
	Sets the y component.
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 rotation 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
constexpr Transform2d	inverse () const
	Inverts this transform.
constexpr Transform2d	operator+ (const Transform2d &other) const
	Composes this transform and another transform.
constexpr Transform2d &	operator+= (const Transform2d &other)
	Composes this transform and another transform.
constexpr Transform2d	operator- () const
	Inverts this transform.
constexpr Transform2d	operator* (double scalar) const
	Multiplies this transform by a scalar.
constexpr Transform2d &	operator*= (double scalar)
	Multiplies this transform by a scalar.
constexpr Transform2d	operator/ (double scalar) const
	Divides this transform by a scalar.
constexpr Transform2d &	operator/= (double scalar)
	Divides this transform by a scalar.
constexpr bool	operator== (const Transform2d &other) const
	Checks exact equality between this and another transform.
constexpr bool	is_near (const Transform2d &other, units::Length distance_tolerance=units::Length(1e-6), units::Angle angle_tolerance=units::Angle(1e-6)) const

Friends
constexpr Transform2d	operator* (double scalar, const Transform2d &transform)
	Multiplies this transform by a scalar reverse order.

Constructor & Destructor Documentation

Transform2d() [1/5]

Transform2d::Transform2d ( Translation2d translation, Rotation2d rotation )

inlineconstexpr

Constructs a transform given translation and rotation components.

Parameters

translation	the translational component of the transform.
rotation	the rotational component of the transform.

Transform2d() [2/5]

Transform2d::Transform2d ( units::Length x, units::Length y, Rotation2d rotation )

inlineconstexpr

Constructs a transform given translation and rotation components.

Parameters

x	the x component of the transform.
y	the y component of the transform.
rotation	the rotational component of the transform.

Transform2d() [3/5]

Transform2d::Transform2d ( units::Length x, units::Length y, units::Angle angle )

inlineconstexpr

Constructs a transform given translation and rotation components.

Parameters

x	the x component of the transform.
y	the y component of the transform.
angle	the rotational component of the transform.

Transform2d() [4/5]

Transform2d::Transform2d ( Translation2d translation, units::Angle angle )

inlineconstexpr

Constructs a transform given translation and rotation components.

Parameters

translation	the translational component of the transform.
angle	the rotational component of the transform.

Transform2d() [5/5]

Transform2d::Transform2d ( const Eigen::Vector3d & transform_vector, units::Length unit, units::Angle angle_unit = units::radians )

inlineconstexpr

Constructs a transform given translation and rotation components given as a vector using the supplied units.

Parameters

transform_vector	vector of the form [x, y, theta]
unit	The length unit to use when assigning the translation.
angle_unit	The angle unit, defaults to radians.

Member Function Documentation

as_vector()

EVec< 3 > Transform2d::as_vector ( units::Length length_unit, units::Angle angle_unit = units::radians ) const

inline

Returns [x, y, theta] in the supplied units. Angles default to radians.

Parameters

length_unit	the unit of length to get the values as
angle_unit	the unit of angle to get the rotation as, default radians

Returns

EVec<3> containing the values.

is_near()

bool Transform2d::is_near ( const Transform2d & 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.

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

• core/math/geometry/transform2d.h