Package org.robwork.sdurw

Class Pose2Df

java.lang.Object

org.robwork.sdurw.Pose2Df

public class Pose2Df
extends java.lang.Object

A Pose3D \mathbf{x}\in \mathbb{R}^6 describes a position
and orientation in 3-dimensions.

{\mathbf{x}} = \left[ \begin{array}{c} x \\ y \\ z \\ \theta k_x \\ \theta k_y \\ \theta k_z \end{array} \right]

where (x,y,z) is the 3d position and (\theta k_x, \theta k_y, \theta k_z) describes the orientation in equal angle axis (EAA)
format.

Constructor Summary

Constructors

Constructor	Description
Pose2Df()	Zero-initialized Pose2D.
Pose2Df(float x, float y, float theta)	Constructor.
Pose2Df(long cPtr, boolean cMemoryOwn)
Pose2Df(Transform2Df transform)	Constructor.
Pose2Df(Vector2Df pos, float theta)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	delete()
EigenVector3f	e()	return a Eigen vector of (x, y, theta).
float	get(long i)
static long	getCPtr(Pose2Df obj)
Vector2Df	getPos()	Get the position vector.
void	set(long i, float d)
SWIGTYPE_p_float	theta()	Get the angle.
java.lang.String	toString()
static Transform2Df	transform(Pose2Df pose)	The transform corresponding to the pose.
SWIGTYPE_p_float	x()	Get the first dimension of the position vector.
SWIGTYPE_p_float	y()	Get the second dimension of the position vector.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Pose2Df

public Pose2Df(long cPtr,
               boolean cMemoryOwn)

Pose2Df

public Pose2Df()

Zero-initialized Pose2D.

Pose2Df

public Pose2Df(Vector2Df pos,
               float theta)

Constructor.

Parameters:

pos - [in] the position.

theta - [in] the angle.

Pose2Df

public Pose2Df(float x,
               float y,
               float theta)

Constructor.

Parameters:

x - [in] the value of the first position dimension.

y - [in] the value of the second position dimension.

theta - [in] the angle.

Pose2Df

public Pose2Df(Transform2Df transform)

Constructor.

Parameters:

transform - [in] a 2D transform giving the pose.

Method Detail

getCPtr

public static long getCPtr(Pose2Df obj)

delete

public void delete()

x

public SWIGTYPE_p_float x()

Get the first dimension of the position vector.

Returns:

the position in the first dimension.

y

public SWIGTYPE_p_float y()

Get the second dimension of the position vector.

Returns:

the position in the second dimension.

theta

public SWIGTYPE_p_float theta()

Get the angle.

Returns:

the angle.

getPos

public Vector2Df getPos()

Get the position vector.

Returns:

the position.

transform

public static Transform2Df transform(Pose2Df pose)

The transform corresponding to the pose.

Parameters:

pose - [in] the pose.

Returns:

equivalent 2D transform.

e

public EigenVector3f e()

return a Eigen vector of (x, y, theta).

Returns:

Eigen vector.

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

get

public float get(long i)

set

public void set(long i,
                float d)