Twist2d Class Reference

#include <twist2d.h>

Description

Class representing a difference between two poses, more specifically a distance along an arc from a pose. The angular displacement is continuous and is never wrapped. More specifically, dx and dy represent integrated motion in the moving reference frame of the robot.

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

Public Member Functions
constexpr	Twist2d ()
	Default Constructor for Twist2d.
constexpr	Twist2d (units::Length dx, units::Length dy, units::Angle dtheta)
constexpr	Twist2d (const Eigen::Vector3d &twist_vector, units::Length length_unit, units::Angle angle_unit=units::radians)
constexpr units::Length	dx () const
	Gets the x displacement.
constexpr double	dx (units::Length unit) const
	Gets the x displacement in the supplied unit.
constexpr void	set_dx (units::Length val)
	Sets the x displacement.
constexpr units::Length	dy () const
	Gets the y displacement.
constexpr double	dy (units::Length unit) const
	Gets the y displacement in the supplied unit.
constexpr void	set_dy (units::Length val)
	Sets the y displacement.
constexpr units::Angle	dtheta () const
	Gets the Angle displacement.
constexpr double	dtheta (units::Angle unit) const
	Gets the angle displacement in the supplied unit.
constexpr void	set_dtheta (units::Angle val)
	Sets the angle displacement.
EVec< 3 >	as_vector (units::Length length_unit, units::Angle angle_unit=units::radians) const
constexpr Twist2d	operator* (double scalar) const
	Multiplies this twist by a scalar.
constexpr Twist2d &	operator*= (double scalar)
	Multiplies this twist by a scalar.
constexpr Twist2d	operator/ (double scalar) const
	Divides this twist by a scalar.
constexpr Twist2d &	operator/= (double scalar)
	Divides this twist by a scalar.
constexpr bool	operator== (const Twist2d &other) const
	Checks exact equality between this and another twist.
constexpr bool	is_near (const Twist2d &other, units::Length distance_tolerance=units::Length(1e-6), units::Angle angle_tolerance=units::Angle(1e-6)) const

Friends
constexpr Twist2d	operator* (double scalar, const Twist2d &twist)
	Multiplies a scalar by this twist.

Constructor & Destructor Documentation

Twist2d() [1/2]

Twist2d::Twist2d ( units::Length dx, units::Length dy, units::Angle dtheta )

inlineconstexpr

Constructs a twist with given translation and angle deltas.

Parameters

dx	the linear dx component.
dy	the linear dy component.
dtheta	the angular dtheta component.

Twist2d() [2/2]

Twist2d::Twist2d ( const Eigen::Vector3d & twist_vector, units::Length length_unit, units::Angle angle_unit = units::radians )

inlineconstexpr

Constructs a twist with given translation and angle deltas.

Parameters

twist_vector	vector of the form [dx, dy, dtheta]
length_unit	unit for dx and dy.
angle_unit	unit for dtheta, defaults to radians.

Member Function Documentation

as_vector()

EVec< 3 > Twist2d::as_vector ( units::Length length_unit, units::Angle angle_unit = units::radians ) const

inline

Returns [dx, dy, dtheta] 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 Twist2d::is_near ( const Twist2d & other, units::Length distance_tolerance = units::Length(1e-6), units::Angle angle_tolerance = units::Angle(1e-6) ) const

inlineconstexpr

Checks linear distance and unwrapped angle difference 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/twist2d.h