valor::geometry::Pose2d Class Reference

Represents a 2D pose as a 3x3 homogeneous transformation matrix. More...

#include <valkyrie/util/geometry/Pose.h>

Inheritance diagram for valor::geometry::Pose2d:

Public Types
using	Twist2d = EigenUnit::UnitVector<units::meter, units::meter, units::radian>

Public Member Functions
	Pose2d (const BaseMatrix &b)
	Pose2d (Translation2d trans, Rotation2d rot)
	Construct a Pose2d from a translation and rotation.
	Pose2d (frc::Translation2d frcTrans, frc::Rotation2d frcRot)
	Construct a Pose2d from an frc::Translation2d and frc::Rotation2d.
	Pose2d (frc::Pose2d frcPose)
	Construct a Pose2d from an frc::Pose2d.
	Pose2d (frc::Pose3d frcPose)
	Construct a Pose2d from an frc::Pose3d by projecting onto the X-Y plane. Z, pitch, and roll are discarded; only X, Y, and yaw are preserved.
	Pose2d (const Pose3d &pose)
	Construct a Pose2d from a Pose3d projected onto the X-Y plane.
Translation2d	Translation () const
Rotation2d	Rotation () const
units::meter_t	X () const
units::meter_t	Y () const
Pose2d	TransformBy (const Transform2d &transform) const
	Apply a Transform2d in this pose's frame.
Pose2d	RelativeTo (const Pose2d &other) const
	Express this pose relative to another pose.
Pose2d	RotateBy (const Rotation2d &rot) const
	Rotate this pose around the global origin.
Pose2d	RotateAround (const Translation2d &point, const Rotation2d &rot) const
	Rotate this pose around an arbitrary point.
Pose2d	Nearest (std::initializer_list< Pose2d > poses) const
	Find the nearest pose from a collection.
Pose2d	operator+ (const Transform2d &transform) const
	operator+ applies a Transform2d.
Transform2d	operator- (const Pose2d &other) const
	operator- returns the Transform2d mapping other -> this.
Pose2d	operator* (double scalar) const
	Scalar multiplication of both translation and rotation.
Pose2d	operator/ (double scalar) const
	Scalar division.
Twist2d	Log () const
	Logarithm map: SE(2) -> se(2).
Public Member Functions inherited from valor::EigenUnit::NamedPhysicalMatrix< Pose2d, EigenUnit::PhysicalMatrix< HomogeneousVector2d, HomogeneousVector2d > >
	NamedPhysicalMatrix (const EigenUnit::PhysicalMatrix< HomogeneousVector2d, HomogeneousVector2d > &base)
Pose2d	Inverse () const
auto	Block () const

Static Public Member Functions
static Pose2d	Exp (Twist2d twist)
	Exponential map: se(2) -> SE(2).

Detailed Description

Represents a 2D pose as a 3x3 homogeneous transformation matrix.

Constructor & Destructor Documentation

Pose2d() [1/5]

valor::geometry::Pose2d::Pose2d ( Translation2d trans, Rotation2d rot )

inline

Construct a Pose2d from a translation and rotation.

Creates a matrix of the form: [ R R T ] [ R R T ] [ 0 0 1 ]

Pose2d() [2/5]

valor::geometry::Pose2d::Pose2d ( frc::Translation2d frcTrans, frc::Rotation2d frcRot )

inlineexplicit

Construct a Pose2d from an frc::Translation2d and frc::Rotation2d.

Parameters

frcTrans	The frc translation component.
frcRot	The frc rotation component.

Pose2d() [3/5]

valor::geometry::Pose2d::Pose2d ( frc::Pose2d frcPose )

inlineexplicit

Construct a Pose2d from an frc::Pose2d.

Parameters

frcPose

The frc pose to convert.

Pose2d() [4/5]

valor::geometry::Pose2d::Pose2d ( frc::Pose3d frcPose )

inlineexplicit

Construct a Pose2d from an frc::Pose3d by projecting onto the X-Y plane. Z, pitch, and roll are discarded; only X, Y, and yaw are preserved.

Parameters

frcPose

The frc 3D pose to project.

Pose2d() [5/5]

valor::geometry::Pose2d::Pose2d ( const Pose3d & pose )

inlineexplicit

Construct a Pose2d from a Pose3d projected onto the X-Y plane.

Parameters

pose	The 3D pose.

Member Function Documentation

Nearest()

Pose2d valor::geometry::Pose2d::Nearest ( std::initializer_list< Pose2d > poses ) const

inline

Find the nearest pose from a collection.

Parameters

poses

Collection of candidate poses.

Returns

The nearest pose by translation distance.

RelativeTo()

Pose2d valor::geometry::Pose2d::RelativeTo ( const Pose2d & other ) const

inline

Express this pose relative to another pose.

Parameters

other

The reference pose.

Returns

This pose in the other's frame.

RotateAround()

Pose2d valor::geometry::Pose2d::RotateAround ( const Translation2d & point, const Rotation2d & rot ) const

inline

Rotate this pose around an arbitrary point.

Parameters

point	The pivot point.
rot	The rotation to apply.

Returns

The rotated pose.

RotateBy()

Pose2d valor::geometry::Pose2d::RotateBy ( const Rotation2d & rot ) const

inline

Rotate this pose around the global origin.

Parameters

rot	The rotation to apply globally.

Returns

The rotated pose.

TransformBy()

Pose2d valor::geometry::Pose2d::TransformBy ( const Transform2d & transform ) const

inline

Apply a Transform2d in this pose's frame.

Parameters

transform

The transform to apply.

Returns

The new pose.

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

• src/main/include/valkyrie/util/geometry/Pose.h