2D twist: 2D velocity vector (vx,vy) + planar angular velocity (omega)
Definition at line 1626 of file lightweight_geom_data.h.
#include <mrpt/math/lightweight_geom_data.h>
Public Types | |
enum | { static_size = 3 } |
Public Member Functions | |
TTwist2D (double vx_, double vy_, double omega_) | |
Constructor from components. More... | |
TTwist2D () | |
Default fast constructor. More... | |
double & | operator[] (size_t i) |
Coordinate access using operator[]. More... | |
const double & | operator[] (size_t i) const |
Coordinate access using operator[]. More... | |
void | getAsVector (std::vector< double > &v) const |
Transformation into vector. More... | |
void | rotate (const double ang) |
Transform the (vx,vy) components for a counterclockwise rotation of ang radians. More... | |
bool | operator== (const TTwist2D &o) const |
bool | operator!= (const TTwist2D &o) const |
mrpt::math::TPose2D | operator* (const double dt) const |
Returns the pose increment of multiplying each twist component times "dt" seconds. More... | |
void | asString (std::string &s) const |
Returns a human-readable textual representation of the object (eg: "[vx vy omega]", omega in deg/s) More... | |
std::string | asString () const |
void | fromString (const std::string &s) |
Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -45.0]" ) More... | |
Static Public Member Functions | |
static size_t | size () |
Public Attributes | |
double | vx |
double | vy |
Velocity components: X,Y (m/s) More... | |
double | omega |
Angular velocity (rad/s) More... | |
anonymous enum |
Enumerator | |
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static_size |
Definition at line 1627 of file lightweight_geom_data.h.
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inline |
Constructor from components.
Definition at line 1632 of file lightweight_geom_data.h.
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inline |
Default fast constructor.
Initializes to garbage
Definition at line 1634 of file lightweight_geom_data.h.
void mrpt::math::TTwist2D::asString | ( | std::string & | s | ) | const |
Returns a human-readable textual representation of the object (eg: "[vx vy omega]", omega in deg/s)
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inline |
Definition at line 1653 of file lightweight_geom_data.h.
References asString().
Referenced by asString().
void mrpt::math::TTwist2D::fromString | ( | const std::string & | s | ) |
Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -45.0]" )
std::exception | On invalid format |
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inline |
Transformation into vector.
Definition at line 1640 of file lightweight_geom_data.h.
References mrpt::math::operator!=(), mrpt::math::operator*(), and mrpt::math::operator==().
bool mrpt::math::TTwist2D::operator!= | ( | const TTwist2D & | o | ) | const |
mrpt::math::TPose2D mrpt::math::TTwist2D::operator* | ( | const double | dt | ) | const |
Returns the pose increment of multiplying each twist component times "dt" seconds.
bool mrpt::math::TTwist2D::operator== | ( | const TTwist2D & | o | ) | const |
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inline |
Coordinate access using operator[].
Order: vx,vy,vphi
Definition at line 1636 of file lightweight_geom_data.h.
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inline |
Coordinate access using operator[].
Order: vx,vy,vphi
Definition at line 1638 of file lightweight_geom_data.h.
void mrpt::math::TTwist2D::rotate | ( | const double | ang | ) |
Transform the (vx,vy) components for a counterclockwise rotation of ang
radians.
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inlinestatic |
Definition at line 1660 of file lightweight_geom_data.h.
double mrpt::math::TTwist2D::omega |
Angular velocity (rad/s)
Definition at line 1629 of file lightweight_geom_data.h.
Referenced by mrpt::obs::CActionRobotMovement2D::velocityAng().
double mrpt::math::TTwist2D::vx |
Definition at line 1628 of file lightweight_geom_data.h.
Referenced by mrpt::obs::CActionRobotMovement2D::velocityLin().
double mrpt::math::TTwist2D::vy |
Velocity components: X,Y (m/s)
Definition at line 1628 of file lightweight_geom_data.h.
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