Public Member Functions
	Pose2d (double x, double y, double t)
	Pose2d (const Eigen::Vector3d &vec)
double	x () const
double	y () const
double	t () const
void	set_x (double x)
void	set_y (double y)
void	set_t (double t)
Pose2d	exmap (const Eigen::Vector3d &delta) const
Eigen::Vector3d	vector () const
void	set (double x, double y, double t)
void	set (const Eigen::Vector3d &v)
void	write (std::ostream &out) const
Eigen::VectorXb	is_angle () const
Pose2d	oplus (const Pose2d &d) const
Pose2d	ominus (const Pose2d &b) const
Point2d	transform_to (const Point2d &p) const
Point2d	transform_from (const Point2d &p) const
Static Public Member Functions
static const char *	name ()
Static Public Attributes
static const int	dim = 3
static const int	size = 3
Friends
std::ostream &	operator<< (std::ostream &out, const Pose2d &p)

Detailed Description

Definition at line 43 of file Pose2d.h.

Member Function Documentation

Pose2d isam::Pose2d::ominus ( const Pose2d & b ) const [inline]

Odometry d from b to this pose (a). Follows notation of Lu&Milios 1997. $d = a \ominus b$

Parameters:

b	Base frame.

Definition at line 127 of file Pose2d.h.

Pose2d isam::Pose2d::oplus ( const Pose2d & d ) const [inline]

Calculate new pose b composed from this pose (a) and the odometry d. Follows notation of Lu&Milios 1997. $b = a \oplus d$

Parameters:

d	Pose difference to add.

Returns:: d transformed from being local in this frame (a) to the global frame.

Definition at line 111 of file Pose2d.h.

Point2d isam::Pose2d::transform_to ( const Point2d & p ) const [inline]

Project point into this coordinate frame.

Parameters:

p	Point to project

Definition at line 143 of file Pose2d.h.

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