Class Pose2Dd


  • public class Pose2Dd
    extends java.lang.Object
    A Pose3D \mathbf{x}\in \mathbb{R}^6 describes a position
    and orientation in 3-dimensions.

    {\mathbf{x}} = \left[ \begin{array}{c} x \\ y \\ z \\ \theta k_x \\ \theta k_y \\ \theta k_z \end{array} \right]

    where (x,y,z) is the 3d position and (\theta k_x, \theta k_y, \theta k_z) describes the orientation in equal angle axis (EAA)
    format.
    • Constructor Detail

      • Pose2Dd

        public Pose2Dd​(long cPtr,
                       boolean cMemoryOwn)
      • Pose2Dd

        public Pose2Dd()
        Zero-initialized Pose2D.
      • Pose2Dd

        public Pose2Dd​(Vector2Dd pos,
                       double theta)
        Constructor.
        Parameters:
        pos - [in] the position.
        theta - [in] the angle.
      • Pose2Dd

        public Pose2Dd​(double x,
                       double y,
                       double theta)
        Constructor.
        Parameters:
        x - [in] the value of the first position dimension.
        y - [in] the value of the second position dimension.
        theta - [in] the angle.
      • Pose2Dd

        public Pose2Dd​(Transform2Dd transform)
        Constructor.
        Parameters:
        transform - [in] a 2D transform giving the pose.
    • Method Detail

      • getCPtr

        public static long getCPtr​(Pose2Dd obj)
      • delete

        public void delete()
      • x

        public SWIGTYPE_p_double x()
        Get the first dimension of the position vector.
        Returns:
        the position in the first dimension.
      • y

        public SWIGTYPE_p_double y()
        Get the second dimension of the position vector.
        Returns:
        the position in the second dimension.
      • getPos

        public Vector2Dd getPos()
        Get the position vector.
        Returns:
        the position.
      • transform

        public static Transform2Dd transform​(Pose2Dd pose)
        The transform corresponding to the pose.
        Parameters:
        pose - [in] the pose.
        Returns:
        equivalent 2D transform.
      • e

        public EigenVector3d e()
        return a Eigen vector of (x, y, theta).
        Returns:
        Eigen vector.
      • toString

        public java.lang.String toString()
        Overrides:
        toString in class java.lang.Object
      • get

        public double get​(long i)
      • set

        public void set​(long i,
                        double d)