Twist2d Class Reference

#include <twist2d.h>

Public Member Functions
constexpr	Twist2d ()
	Twist2d (const double &dx, const double &dy, const double &dtheta)
	Twist2d (const Eigen::Vector3d &twist_vector)
double	dx () const
double	dy () const
double	dtheta () const
bool	operator== (const Twist2d &other) const
Twist2d	operator* (const double &scalar) const
Twist2d	operator/ (const double &scalar) const

Friends
std::ostream &	operator<< (std::ostream &os, const Twist2d &twist)

Detailed Description

Class representing a difference between two poses, more specifically a distance along an arc from a pose.

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

Constructor & Destructor Documentation

Twist2d() [1/3]

Twist2d::Twist2d ( )

constexpr

Default Constructor for Twist2d

Twist2d() [2/3]

Twist2d::Twist2d	(	const double &	dx,
		const double &	dy,
		const double &	dtheta )

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() [3/3]

Twist2d::Twist2d

(

const Eigen::Vector3d &

twist_vector

)

Constructs a twist with given translation and angle deltas.

Parameters

twist_vector

vector of the form [dx, dy, dtheta]

Member Function Documentation

dtheta()

double Twist2d::dtheta

(

)

const

Returns the angular dtheta component.

Returns

the angular dtheta component.

dx()

double Twist2d::dx

(

)

const

Returns the linear dx component.

Returns

the linear dx component.

dy()

double Twist2d::dy

(

)

const

Returns the linear dy component.

Returns

the linear dy component.

operator*()

Twist2d Twist2d::operator*

(

const double &

scalar

)

const

Multiplies this twist by a scalar.

Parameters

scalar

the scalar value to multiply by.

operator/()

Twist2d Twist2d::operator/

(

const double &

scalar

)

const

Divides this twist by a scalar.

Parameters

scalar

the scalar value to divide by.

operator==()

bool Twist2d::operator==

(

const Twist2d &

other

)

const

Compares this to another twist.

Parameters

other

the other twist to compare to.

Returns

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

Friends And Related Symbol Documentation

operator<<

std::ostream & operator<< ( std::ostream & os, const Twist2d & twist )

friend

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

prints "Twist2d[dx: (value), dy: (value), drad: (radians)]"

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

prints "Twist2d[x: (value), y: (value), rad: (radians), deg: (degrees)]"

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

• twist2d.h
• twist2d.cpp