Pose2d Class Reference

#include <pose2d.h>

Public Member Functions
constexpr	Pose2d ()
	Pose2d (const Translation2d &translation, const Rotation2d &rotation)
	Pose2d (const double &x, const double &y, const Rotation2d &rotation)
	Pose2d (const double &x, const double &y, const double &radians)
	Pose2d (const Translation2d &translation, const double &radians)
	Pose2d (const Eigen::Vector3d &pose_vector)
Translation2d	translation () const
double	x () const
double	y () const
Rotation2d	rotation () const
void	setRotationRad (double rotRad)
void	setRotationDeg (double rotDeg)
bool	operator== (const Pose2d other) const
Pose2d	operator* (const double &scalar) const
Pose2d	operator/ (const double &scalar) const
Pose2d	operator+ (const Transform2d &transform) const
Transform2d	operator- (const Pose2d &other) const
Pose2d	relative_to (const Pose2d &other) const
Pose2d	transform_by (const Transform2d &transform) const
Pose2d	exp (const Twist2d &twist) const
Twist2d	log (const Pose2d &end_pose) const

Friends
std::ostream &	operator<< (std::ostream &os, const Pose2d &pose)

Detailed 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

Constructor & Destructor Documentation

Pose2d() [1/6]

Pose2d::Pose2d ( )

inlineconstexpr

Default Constructor for Pose2d

Pose2d() [2/6]

Pose2d::Pose2d	(	const Translation2d &	translation,
		const Rotation2d &	rotation )

Constructs a pose with given translation and rotation components.

Parameters

translation	translational component.
rotation	rotational component.

Pose2d() [3/6]

Pose2d::Pose2d	(	const double &	x,
		const double &	y,
		const Rotation2d &	rotation )

Constructs a pose with given translation and rotation components.

Parameters

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

Pose2d() [4/6]

Pose2d::Pose2d	(	const double &	x,
		const double &	y,
		const double &	radians )

Constructs a pose with given translation and rotation components.

Parameters

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

Pose2d() [5/6]

Pose2d::Pose2d	(	const Translation2d &	translation,
		const double &	radians )

Constructs a pose with given translation and rotation components.

Parameters

translation	translational component.
radians	rotational component in radians.

Pose2d() [6/6]

Pose2d::Pose2d

(

const Eigen::Vector3d &

pose_vector

)

Constructs a pose with given translation and rotation components.

Parameters

pose_vector

vector of the form [x, y, theta].

Member Function Documentation

exp()

Pose2d Pose2d::exp

(

const Twist2d &

twist

)

const

Applies a twist (pose delta) to a pose by including first order dynamics of heading.

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 that that problem.

Can also be thought of more simply as applying a twist 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

old_pose	The pose to which the twist will be applied.
twist	The twist, represents a pose delta.

Returns

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

log()

Twist2d Pose2d::log

(

const Pose2d &

end_pose

)

const

The inverse of the pose exponential.

Determines the twist required to go from this pose to the given end pose. suppose you have Pose2d a, Twist2d twist if a.exp(twist) = b then a.log(b) = twist

Parameters

end_pose

the end pose to find the mapping to.

Returns

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

operator*()

Pose2d Pose2d::operator*

(

const double &

scalar

)

const

Multiplies this pose by a scalar. Simply multiplies each component.

Parameters

scalar

the scalar value to multiply by.

operator+()

Pose2d Pose2d::operator+

(

const Transform2d &

transform

)

const

Adds a transform to this pose. Transforms the pose in the pose's frame.

Parameters

transform

the change in pose.

operator-()

Transform2d Pose2d::operator-

(

const Pose2d &

other

)

const

Subtracts one pose from another to find the transform between them.

Parameters

other

the pose to subtract.

operator/()

Pose2d Pose2d::operator/

(

const double &

scalar

)

const

Divides this pose by a scalar. Simply divides each component.

Parameters

scalar

the scalar value to divide by.

operator==()

bool Pose2d::operator==

(

const Pose2d

other

)

const

Compares this to another pose.

Parameters

other

the other pose to compare to.

Returns

true if each of the components are within 1e-9 of each other.

relative_to()

Pose2d Pose2d::relative_to

(

const Pose2d &

other

)

const

Finds the pose equivalent to this pose relative to another arbitrary pose rather than the origin.

Parameters

other

the pose representing the new origin.

Returns

this pose relative to another pose.

rotation()

Rotation2d Pose2d::rotation

(

)

const

Returns the rotational component.

Returns

the rotational component.

setRotationDeg()

void Pose2d::setRotationDeg

(

double

rotDeg

)

sets the ration value of the rotational component in Degrees

setRotationRad()

void Pose2d::setRotationRad

(

double

rotRad

)

sets the ration value of the rotational component in Radians

transform_by()

Pose2d Pose2d::transform_by

(

const Transform2d &

transform

)

const

Adds a transform to this pose. Simply adds each component.

Parameters

transform

the change in pose.

Returns

the pose after being transformed.

translation()

Translation2d Pose2d::translation

(

)

const

Returns the translational component.

Returns

the translational component.

x()

double Pose2d::x

(

)

const

Returns the x value of the translational component.

Returns

the x value of the translational component.

y()

double Pose2d::y

(

)

const

Returns the y value of the translational component.

Returns

the y value of the translational component.

Friends And Related Symbol Documentation

operator<<

std::ostream & operator<< ( std::ostream & os, const Pose2d & pose )

friend

Sends a pose to an output stream. Ex. std::cout << pose;

prints "Pose2d[x: (value), y: (value), rad: (radians), deg: (degrees)]"

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

• pose2d.h
• pose2d.cpp