g2o::tutorial::SE2 Class Reference

#include <se2.h>

Public Member Functions
	SE2 ()
	SE2 (double x, double y, double theta)
const Eigen::Vector2d &	translation () const
Eigen::Vector2d &	translation ()
const Eigen::Rotation2Dd &	rotation () const
Eigen::Rotation2Dd &	rotation ()
SE2	operator* (const SE2 &tr2) const
SE2 &	operator*= (const SE2 &tr2)
Eigen::Vector2d	operator* (const Eigen::Vector2d &v) const
SE2	inverse () const
double	operator[] (int i) const
double &	operator[] (int i)
void	fromVector (const Eigen::Vector3d &v)
Eigen::Vector3d	toVector () const

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Attributes
Eigen::Rotation2Dd	_R
Eigen::Vector2d	_t

Detailed Description

Definition at line 42 of file se2.h.

Constructor & Destructor Documentation

g2o::tutorial::SE2::SE2 ( )

inline

Definition at line 45 of file se2.h.

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

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

inline

Definition at line 47 of file se2.h.

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

Member Function Documentation

void g2o::tutorial::SE2::fromVector ( const Eigen::Vector3d &  v )

inline

Definition at line 98 of file se2.h.

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

SE2 g2o::tutorial::SE2::inverse ( ) const

inline

Definition at line 76 of file se2.h.

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

Referenced by g2o::tutorial::EdgeSE2::setMeasurement(), g2o::tutorial::ParameterSE2Offset::setOffset(), and g2o::tutorial::Simulator::simulate().

                           {
          SE2 ret;
          ret._R=_R.inverse();
          ret._R.angle()=normalize_theta(ret._R.angle());
          ret._t=ret._R*(Eigen::Vector2d(-1 * _t));
          return ret;
        }

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

inline

Definition at line 57 of file se2.h.

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

                                             {
          SE2 result(*this);
          result._t += _R*tr2._t;
          result._R.angle()+= tr2._R.angle();
          result._R.angle()=normalize_theta(result._R.angle());
          return result;
        }

Eigen::Vector2d g2o::tutorial::SE2::operator* ( const Eigen::Vector2d &  v ) const

inline

Definition at line 72 of file se2.h.

                                                                {
          return _t+_R*v;
        }

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

inline

Definition at line 65 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::tutorial::SE2::operator[] ( int  i ) const

inline

Definition at line 84 of file se2.h.

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

double& g2o::tutorial::SE2::operator[] ( int  i )

inline

Definition at line 91 of file se2.h.

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

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

inline

Definition at line 53 of file se2.h.

Referenced by g2o::tutorial::ParameterSE2Offset::write().

{return _R;}

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

inline

Definition at line 55 of file se2.h.

{return _R;}

Eigen::Vector3d g2o::tutorial::SE2::toVector ( ) const

inline

Definition at line 102 of file se2.h.

Referenced by g2o::tutorial::EdgeSE2::computeError(), and g2o::tutorial::Simulator::sampleTransformation().

                                       {
          Eigen::Vector3d ret;
          for (int i=0; i<3; i++){
            ret(i)=(*this)[i];
          }
          return ret;
        }

const Eigen::Vector2d& g2o::tutorial::SE2::translation ( ) const

inline

Definition at line 49 of file se2.h.

Referenced by g2o::tutorial::Simulator::simulate(), and g2o::tutorial::ParameterSE2Offset::write().

{return _t;}

Eigen::Vector2d& g2o::tutorial::SE2::translation ( )

inline

Definition at line 51 of file se2.h.

{return _t;}

Member Data Documentation

Eigen::Rotation2Dd g2o::tutorial::SE2::_R

protected

Definition at line 111 of file se2.h.

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

Eigen::Vector2d g2o::tutorial::SE2::_t

protected

Definition at line 112 of file se2.h.

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

g2o::tutorial::SE2::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 44 of file se2.h.

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

• /home/xuezhisd/CLionProjects/g2o/g2o/examples/tutorial_slam2d/se2.h