#include <ariaUtil.h>
Inheritance diagram for ArPose:
This class represents a robot position with heading. The heading is automatically adjusted to be in the range -180 to 180. It also defaults to 0, and so does not need to be used. (This avoids having 2 types of positions.) Everything in the class is inline so it should be fast.
Public Member Functions | |
| ArPose (const ArPose &pose) | |
| Copy Constructor. | |
| ArPose (double x=0, double y=0, double th=0) | |
| Constructor, with optional initial values. | |
| virtual double | findAngleTo (ArPose position) const |
| Finds the angle between this position and the given position. | |
| virtual double | findDistanceTo (ArPose position) const |
| Finds the distance from this position to the given position. | |
| void | getPose (double *x, double *y, double *th=NULL) const |
| Gets the whole position in one function call. | |
| double | getTh (void) const |
| Gets the heading. | |
| double | getThRad (void) const |
| Gets the heading, in radians. | |
| double | getX (void) const |
| Gets the x position. | |
| double | getY (void) const |
| Gets the y position. | |
| virtual void | log (void) const |
| Logs the coordinates using ArLog. | |
| virtual bool | operator!= (const ArPose &other) const |
| virtual ArPose | operator+ (const ArPose &other) const |
| Add the other pose's X, Y and theta to this pose's X, Y, and theta (sum in theta will be normalized to (-180,180)), and return the result. | |
| ArPose & | operator+= (const ArPose &other) |
| virtual ArPose | operator- (const ArPose &other) const |
| Substract the other pose's X, Y, and theta from this pose's X, Y, and theta (difference in theta will be normalized to (-180,180)), and return the result. | |
| ArPose & | operator-= (const ArPose &other) |
| virtual bool | operator< (const ArPose &other) const |
| Less than operator (for sets). | |
| virtual bool | operator== (const ArPose &other) const |
| Equality operator (for sets). | |
| virtual void | setPose (ArPose position) |
| Sets the position equal to the given position. | |
| virtual void | setPose (double x, double y, double th=0) |
| Sets the position to the given values. | |
| void | setTh (double th) |
| Sets the heading. | |
| void | setThRad (double th) |
| Sets the heading, using radians. | |
| void | setX (double x) |
| Sets the x position. | |
| void | setY (double y) |
| Sets the y position. | |
| virtual double | squaredFindDistanceTo (ArPose position) const |
| Finds the square distance from this position to the given position. | |
| virtual | ~ArPose () |
| Destructor. | |
Protected Attributes | |
| double | myTh |
| double | myX |
| double | myY |
| ArPose::ArPose | ( | double | x = 0, |
|
| double | y = 0, |
|||
| double | th = 0 | |||
| ) | [inline] |
Constructor, with optional initial values.
Sets the pose to the given values. The constructor can be called with no parameters, with just x and y, or with x, y, and th. The given heading (th) is automatically adjusted to be in the range -180 to 180.
| x | the double to set the x position to, default of 0 | |
| y | the double to set the y position to, default of 0 | |
| th | the double value for the pose's heading (or th), default of 0 |
| virtual double ArPose::findAngleTo | ( | ArPose | position | ) | const [inline, virtual] |
Finds the angle between this position and the given position.
| position | the position to find the angle to |
| virtual double ArPose::findDistanceTo | ( | ArPose | position | ) | const [inline, virtual] |
Finds the distance from this position to the given position.
| position | the position to find the distance to |
| void ArPose::getPose | ( | double * | x, | |
| double * | y, | |||
| double * | th = NULL | |||
| ) | const [inline] |
Gets the whole position in one function call.
Gets the whole position at once, by giving it 2 or 3 pointers to doubles. If you give the function a null pointer for a value it won't try to use the null pointer, so you can pass in a NULL if you don't care about that value. Also note that th defaults to NULL so you can use this with just x and y.
| x | a pointer to a double to set the x position to | |
| y | a pointer to a double to set the y position to | |
| th | a pointer to a double to set the heading to, defaults to NULL |
Adds the given pose to this one.
Java and Python Wrappers: Not available in Java or Python wrapper libraries.
Subtracts the given pose from this one.
Java and Python Wrappers: Not available in Java or Python wrapper libraries.
| virtual void ArPose::setPose | ( | ArPose | position | ) | [inline, virtual] |
Sets the position equal to the given position.
| position | the position value this instance should be set to |
| virtual void ArPose::setPose | ( | double | x, | |
| double | y, | |||
| double | th = 0 | |||
| ) | [inline, virtual] |
Sets the position to the given values.
Sets the position with the given three values, but the theta does not need to be given as it defaults to 0.
| x | the position to set the x position to | |
| y | the position to set the y position to | |
| th | the position to set the th position to, default of 0 |
| virtual double ArPose::squaredFindDistanceTo | ( | ArPose | position | ) | const [inline, virtual] |
Finds the square distance from this position to the given position.
This is only here for speed, if you aren't doing this thousands of times a second don't use this one use findDistanceTo
| position | the position to find the distance to |
1.5.1