## Class Pose2Df

• java.lang.Object
• org.robwork.sdurw_math.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​(SWIGTYPE_p_rw__math__Transform2DT_float_t transform)
Constructor.
Pose2Df​(Vector2Df pos, float theta)
Constructor.
• ### Method Summary

All Methods
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 SWIGTYPE_p_rw__math__Transform2DT_float_t 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​(SWIGTYPE_p_rw__math__Transform2DT_float_t 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.
• #### get

public float get​(long i)
• #### set

public void set​(long i,
float d)
• #### transform

public static SWIGTYPE_p_rw__math__Transform2DT_float_t transform​(Pose2Df 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 EigenVector3f e()
return a Eigen vector of (x, y, theta).
Returns:
Eigen vector.