g2o::SE2 Class Reference

represent SE2 More...

#include <se2.h>

Public Member Functions
	SE2 ()
	SE2 (const Isometry2D &iso)
	SE2 (const Vector3D &v)
	SE2 (double x, double y, double theta)
const Vector2D &	translation () const
	translational component More...
void	setTranslation (const Vector2D &t_)
const Eigen::Rotation2Dd &	rotation () const
	rotational component More...
void	setRotation (const Eigen::Rotation2Dd &R_)
SE2	operator* (const SE2 &tr2) const
	concatenate two SE2 elements (motion composition) More...
SE2 &	operator*= (const SE2 &tr2)
	motion composition operator More...
Vector2D	operator* (const Vector2D &v) const
	project a 2D vector More...
SE2	inverse () const
	invert :-) More...
double	operator[] (int i) const
void	fromVector (const Vector3D &v)
	assign from a 3D vector (x, y, theta) More...
Vector3D	toVector () const
	convert to a 3D vector (x, y, theta) More...
Isometry2D	toIsometry () const

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Attributes
Eigen::Rotation2Dd	_R
Vector2D	_t

Detailed Description

represent SE2

Definition at line 40 of file se2.h.

Constructor & Destructor Documentation

g2o::SE2::SE2 ( )

inline

Definition at line 43 of file se2.h.

:_R(0),_t(0,0){}

g2o::SE2::SE2 ( const Isometry2D &  iso )

inline

Definition at line 45 of file se2.h.

                                : _R(0), _t(iso.translation()){
        _R.fromRotationMatrix(iso.linear());
      }

g2o::SE2::SE2 ( const Vector3D &  v )

inline

Definition at line 49 of file se2.h.

:_R(v[2]),_t(v[0],v[1]){}

g2o::SE2::SE2 ( double  x, double  y, double  theta  )

inline

Definition at line 51 of file se2.h.

:_R(theta),_t(x,y){}

Member Function Documentation

void g2o::SE2::fromVector ( const Vector3D &  v )

inline

assign from a 3D vector (x, y, theta)

Definition at line 103 of file se2.h.

Referenced by g2o::EdgeSE2OdomDifferentialCalib::computeError(), g2o::EdgeSE2PureCalib::computeError(), EdgeCalib::computeError(), main(), g2o::tutorial::VertexSE2::read(), g2o::tutorial::EdgeSE2::read(), g2o::EdgeSE2SensorCalib::read(), and g2o::Gm2dlIO::readGm2dl().

                                                {
        *this=SE2(v[0], v[1], v[2]);
      }

SE2 g2o::SE2::inverse ( ) const

inline

invert :-)

Definition at line 82 of file se2.h.

References _R, _t, and g2o::normalize_theta().

Referenced by g2o::addOdometryCalibLinksDifferential(), g2o::OnlineEdgeSE2::chi2(), g2o::EdgeSE2TwoPointsXY::computeError(), g2o::EdgeSE2LotsOfXY::computeError(), g2o::EdgeSE2PointXYBearing::computeError(), g2o::EdgeSE2PointXY::computeError(), g2o::EdgeSE2Line2D::computeError(), g2o::EdgeSE2OdomDifferentialCalib::computeError(), g2o::EdgeSE2::computeError(), g2o::tutorial::EdgeSE2::computeError(), g2o::EdgeSE2Segment2D::computeError(), g2o::EdgeSE2Segment2DLine::computeError(), g2o::EdgeSE2Segment2DPointLine::computeError(), g2o::EdgeSE2PureCalib::computeError(), EdgeCalib::computeError(), g2o::EdgeSE2SensorCalib::initialEstimate(), g2o::EdgeSE2Offset::initialEstimate(), main(), g2o::EdgeSE2WriteGnuplotAction::operator()(), g2o::RobotLaser::read(), g2o::EdgeSE2::read(), g2o::tutorial::EdgeSE2::read(), g2o::EdgeSE2SensorCalib::read(), g2o::EdgeSE2Prior::read(), g2o::Gm2dlIO::readGm2dl(), g2o::EdgeSE2SensorCalib::setMeasurement(), g2o::EdgeSE2::setMeasurement(), g2o::EdgeSE2Offset::setMeasurement(), g2o::EdgeSE2Prior::setMeasurement(), g2o::EdgeSE2Prior::setMeasurementData(), g2o::EdgeSE2TwoPointsXY::setMeasurementFromState(), g2o::EdgeSE2LotsOfXY::setMeasurementFromState(), g2o::EdgeSE2PointXYBearing::setMeasurementFromState(), g2o::EdgeSE2PointXY::setMeasurementFromState(), g2o::EdgeSE2Line2D::setMeasurementFromState(), g2o::EdgeSE2Segment2D::setMeasurementFromState(), g2o::EdgeSE2::setMeasurementFromState(), g2o::EdgeSE2Segment2DLine::setMeasurementFromState(), g2o::EdgeSE2Segment2DPointLine::setMeasurementFromState(), g2o::tutorial::CacheSE2Offset::updateImpl(), and g2o::CacheSE2Offset::updateImpl().

                                {
        SE2 ret;
        ret._R=_R.inverse();
        ret._R.angle()=normalize_theta(ret._R.angle());
#ifdef _MSC_VER
        ret._t=ret._R*(Vector2D(_t*-1.));
#else
        ret._t=ret._R*(_t*-1.);
#endif
        return ret;
      }

SE2 g2o::SE2::operator* ( const SE2 &  tr2 ) const

inline

concatenate two SE2 elements (motion composition)

Definition at line 62 of file se2.h.

                                                  {
        SE2 result(*this);
        result *= tr2;
        return result;
      }

Vector2D g2o::SE2::operator* ( const Vector2D &  v ) const

inline

project a 2D vector

Definition at line 77 of file se2.h.

                                                           {
        return _t+_R*v;
      }

SE2& g2o::SE2::operator*= ( const SE2 &  tr2 )

inline

motion composition operator

Definition at line 69 of file se2.h.

References _R, _t, and g2o::normalize_theta().

                                              {
        _t+=_R*tr2._t;
        _R.angle()+=tr2._R.angle();
        _R.angle()=normalize_theta(_R.angle());
        return *this;
      }

double g2o::SE2::operator[] ( int  i ) const

inline

Definition at line 94 of file se2.h.

                                             {
        assert (i>=0 && i<3);
        if (i<2)
          return _t(i);
        return _R.angle();
      }

const Eigen::Rotation2Dd& g2o::SE2::rotation ( ) const

inline

rotational component

Definition at line 58 of file se2.h.

Referenced by g2o::addOdometryCalibLinksDifferential(), g2o::ClosedFormCalibration::calibrate(), g2o::EdgeSE2Line2D::computeError(), g2o::EdgeSE2Offset::computeError(), g2o::EdgeSE2PointXYBearing::initialEstimate(), g2o::EdgeSE2Line2D::initialEstimate(), g2o::EdgeSE2LotsOfXY::linearizeOplus(), g2o::EdgeSE2PointXY::linearizeOplus(), g2o::EdgeSE2::linearizeOplus(), main(), g2o::EdgeSE2PointXYBearingWriteGnuplotAction::operator()(), g2o::EdgeSE2PointXYWriteGnuplotAction::operator()(), g2o::VertexSE2WriteGnuplotAction::operator()(), g2o::EdgeSE2WriteGnuplotAction::operator()(), g2o::operator*(), g2o::ThetaTreeAction::perform(), g2o::G2oSlamInterface::printVertex(), g2o::EdgeSE2Line2D::setMeasurementFromState(), g2o::RobotLaser::setOdomPose(), g2o::ParameterSE2Offset::setOffset(), g2o::SolverSLAM2DLinear::solveOrientation(), updateDisplay(), and g2o::CacheSE2Offset::updateImpl().

{return _R;}

void g2o::SE2::setRotation ( const Eigen::Rotation2Dd &  R_ )

inline

Definition at line 59 of file se2.h.

Referenced by g2o::EdgeSE2PointXYBearing::initialEstimate(), and main().

{_R=R_;}

void g2o::SE2::setTranslation ( const Vector2D &  t_ )

inline

Definition at line 55 of file se2.h.

Referenced by main().

{_t=t_;}

Isometry2D g2o::SE2::toIsometry ( ) const

inline

Definition at line 112 of file se2.h.

                                           {
        Isometry2D iso = Isometry2D::Identity();
        iso.linear() = _R.toRotationMatrix();
        iso.translation() = _t;
        return iso;
      }

Vector3D g2o::SE2::toVector ( ) const

inline

convert to a 3D vector (x, y, theta)

Definition at line 108 of file se2.h.

Referenced by g2o::OnlineEdgeSE2::chi2(), g2o::EdgeSE2SensorCalib::computeError(), g2o::EdgeSE2Prior::computeError(), g2o::EdgeSE2OdomDifferentialCalib::computeError(), g2o::EdgeSE2::computeError(), g2o::EdgeSE2PureCalib::computeError(), EdgeCalib::computeError(), gnudump_edges(), main(), g2o::RobotLaser::write(), g2o::ParameterSE2Offset::write(), g2o::EdgeSE2::write(), g2o::tutorial::VertexSE2::write(), g2o::tutorial::EdgeSE2::write(), g2o::EdgeSE2Prior::write(), g2o::EdgeSE2SensorCalib::write(), g2o::VertexSE2::write(), and g2o::Gm2dlIO::writeGm2dl().

                                       {
        return Vector3D(_t.x(), _t.y(), _R.angle());
      }

const Vector2D& g2o::SE2::translation ( ) const

inline

translational component

Definition at line 54 of file se2.h.

Referenced by g2o::addOdometryCalibLinksDifferential(), g2o::ClosedFormCalibration::calibrate(), g2o::EdgeSE2Line2D::computeError(), g2o::EdgeSE2Offset::computeError(), g2o::EdgeSE2XYPrior::computeError(), g2o::SparseOptimizerOnline::gnuplotVisualization(), g2o::EdgeSE2Line2D::initialEstimate(), g2o::EdgeSE2LotsOfXY::linearizeOplus(), g2o::EdgeSE2PointXYOffset::linearizeOplus(), g2o::EdgeSE2PointXY::linearizeOplus(), g2o::EdgeSE2::linearizeOplus(), main(), g2o::EdgeSE2PointXYBearingWriteGnuplotAction::operator()(), g2o::EdgeSE2PointXYWriteGnuplotAction::operator()(), g2o::VertexSE2WriteGnuplotAction::operator()(), g2o::EdgeSE2WriteGnuplotAction::operator()(), g2o::operator*(), g2o::G2oSlamInterface::printVertex(), g2o::EdgeSE2Line2D::setMeasurementFromState(), g2o::RobotLaser::setOdomPose(), g2o::ParameterSE2Offset::setOffset(), updateDisplay(), g2o::CacheSE2Offset::updateImpl(), g2o::EdgeSE2OdomDifferentialCalib::write(), and g2o::EdgeSE2SensorCalib::write().

{return _t;}

Member Data Documentation

Eigen::Rotation2Dd g2o::SE2::_R

protected

Definition at line 120 of file se2.h.

Referenced by inverse(), and operator*=().

Vector2D g2o::SE2::_t

protected

Definition at line 121 of file se2.h.

Referenced by inverse(), and operator*=().

g2o::SE2::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 42 of file se2.h.

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

• /home/xuezhisd/CLionProjects/g2o/g2o/types/slam2d/se2.h