#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 |
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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.
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Finds the angle between this position and the given position.
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Finds the distance from this position to the given position.
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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.
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Adds the given pose to this one. Java and Python Wrappers: Not available in Java or Python wrapper libraries. |
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Subtracts the given pose from this one. Java and Python Wrappers: Not available in Java or Python wrapper libraries. |
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Sets the position equal to the given position.
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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.
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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
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