Transform2d Class Reference

#include <transform2d.h>

Public Member Functions
constexpr	Transform2d ()
	Transform2d (const Translation2d &translation, const Rotation2d &rotation)
	Transform2d (const double &x, const double &y, const Rotation2d &rotation)
	Transform2d (const double &x, const double &y, const double &radians)
	Transform2d (const Translation2d &translation, const double &radians)
	Transform2d (const Eigen::Vector3d &transform_vector)
	Transform2d (const Pose2d &start, const Pose2d &end)
Translation2d	translation () const
double	x () const
double	y () const
Rotation2d	rotation () const
Transform2d	inverse () const
Transform2d	operator* (const double &scalar) const
Transform2d	operator/ (const double &scalar) const
Transform2d	operator- () const
bool	operator== (const Transform2d &other) const

Friends
std::ostream &	operator<< (std::ostream &os, const Transform2d &transform)

Detailed Description

Class representing a transformation of a pose2d, or a linear difference between the components of poses.

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

Constructor & Destructor Documentation

Transform2d() [1/7]

Transform2d::Transform2d ( )

constexpr

Default Constructor for Transform2d

Transform2d() [2/7]

Transform2d::Transform2d	(	const Translation2d &	translation,
		const Rotation2d &	rotation )

Constructs a transform given translation and rotation components.

Parameters

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

Transform2d() [3/7]

Transform2d::Transform2d	(	const double &	x,
		const double &	y,
		const Rotation2d &	rotation )

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() [4/7]

Transform2d::Transform2d	(	const double &	x,
		const double &	y,
		const double &	radians )

Constructs a transform given translation and rotation components.

Parameters

x	the x component of the transform.
y	the y component of the transform.
radians	the rotational component of the transform in radians.

Transform2d() [5/7]

Transform2d::Transform2d	(	const Translation2d &	translation,
		const double &	radians )

Constructs a transform given translation and rotation components.

Parameters

translation	the translational component of the transform.
radians	the rotational component of the transform in radians.

Transform2d() [6/7]

Transform2d::Transform2d

(

const Eigen::Vector3d &

transform_vector

)

Constructs a transform given translation and rotation components given as a vector.

Parameters

transform_vector

vector of the form [x, y, theta]

Transform2d() [7/7]

Transform2d::Transform2d	(	const Pose2d &	start,
		const Pose2d &	end )

Constructs a transform given translation and rotation components.

Parameters

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

Member Function Documentation

inverse()

Transform2d Transform2d::inverse

(

)

const

Inverts the transform.

Returns

the inverted transform.

operator*()

Transform2d Transform2d::operator*

(

const double &

scalar

)

const

Multiplies this transform by a scalar.

Parameters

scalar

the scalar to multiply this transform by.

operator-()

Transform2d Transform2d::operator-

(

)

const

Inverts the transform.

Returns

the inverted transform.

operator/()

Transform2d Transform2d::operator/

(

const double &

scalar

)

const

Divides this transform by a scalar.

Parameters

scalar

the scalar to divide this transform by.

operator==()

bool Transform2d::operator==

(

const Transform2d &

other

)

const

Compares this to another transform.

Parameters

other

the other transform to compare to.

Returns

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

rotation()

Rotation2d Transform2d::rotation

(

)

const

Returns the rotational component of the transform.

Returns

the rotational component of the transform.

translation()

Translation2d Transform2d::translation

(

)

const

Returns the translational component of the transform.

Returns

the translational component of the transform.

x()

double Transform2d::x

(

)

const

Returns the x component of the transform.

Returns

the x component of the transform.

y()

double Transform2d::y

(

)

const

Returns the y component of the transform.

Returns

the y component of the transform.

Friends And Related Symbol Documentation

operator<<

std::ostream & operator<< ( std::ostream & os, const Transform2d & transform )

friend

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

prints "Transform2d[dx: (value), dy: (value), drad: (radians), ddeg: (degrees)]"

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

prints "Transform2d[x: (value), y: (value), rad: (radians), deg: (degrees)]"

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

• transform2d.h
• transform2d.cpp