Package org.robwork.sdurw_math

Class Pose2D

java.lang.Object

org.robwork.sdurw_math.Pose2D

public class Pose2D
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
Pose2D()	Zero-initialized Pose2D.
Pose2D(double x, double y, double theta)	Constructor.
Pose2D(long cPtr, boolean cMemoryOwn)
Pose2D(SWIGTYPE_p_rw__math__Transform2DT_double_t transform)	Constructor.
Pose2D(Vector2D pos, double theta)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	delete()
EigenVector3d	e()	return a Eigen vector of (x, y, theta).
double	get(long i)
static long	getCPtr(Pose2D obj)
Vector2D	getPos()	Get the position vector.
void	set(long i, double d)
SWIGTYPE_p_double	theta()	Get the angle.
java.lang.String	toString()
static SWIGTYPE_p_rw__math__Transform2DT_double_t	transform(Pose2D pose)	The transform corresponding to the pose.
SWIGTYPE_p_double	x()	Get the first dimension of the position vector.
SWIGTYPE_p_double	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

Pose2D

public Pose2D(long cPtr,
              boolean cMemoryOwn)

Pose2D

public Pose2D()

Zero-initialized Pose2D.

Pose2D

public Pose2D(Vector2D pos,
              double theta)

Constructor.

Parameters:

pos - [in] the position.

theta - [in] the angle.

Pose2D

public Pose2D(double x,
              double y,
              double 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.

Pose2D

public Pose2D(SWIGTYPE_p_rw__math__Transform2DT_double_t transform)

Constructor.

Parameters:

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

Method Detail

getCPtr

public static long getCPtr(Pose2D obj)

delete

public void delete()

x

public SWIGTYPE_p_double x()

Get the first dimension of the position vector.

Returns:

the position in the first dimension.

y

public SWIGTYPE_p_double y()

Get the second dimension of the position vector.

Returns:

the position in the second dimension.

theta

public SWIGTYPE_p_double theta()

Get the angle.

Returns:

the angle.

getPos

public Vector2D getPos()

Get the position vector.

Returns:

the position.

get

public double get(long i)

set

public void set(long i,
                double d)

transform

public static SWIGTYPE_p_rw__math__Transform2DT_double_t transform(Pose2D pose)

The transform corresponding to the pose.

Parameters:

pose - [in] the pose.

Returns:

equivalent 2D transform.

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

e

public EigenVector3d e()

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

Returns:

Eigen vector.