#include <Pose2D.hpp>

Public Member Functions
	Pose2D (double x, double y, double heading)

	Pose2D (double x, double y)

	Pose2D ()

	Pose2D (const Pose2D &position)

double	angleTo (const Pose2D &other) const

double	distanceTo (const Pose2D &other) const

double	squareOfDistanceTo (const Pose2D &other) const

Pose2D	clone () const

void	rotateByPose (const Pose2D &rotation)

void	rotateByAngle (double angle)

void	translateByPose (const Pose2D &translation)

void	translateByMagnitude (double magnitude)

void	transformPose (const Pose2D &modifier)

double	getX () const

double	getY () const

double	getHeading () const

void	setHeading (double angle)

void	plusCoord (const Pose2D &other)

void	plus (const Pose2D &other)

void	minus (Pose2D other)

void	addAngle (double angle)

Pose2D	subtractBy (const Pose2D &other) const

Pose2D	scaleBy (double scaler) const

Pose2D	normalize () const

double	dotProduct (const Pose2D &other) const

void	setX (double x)

void	vecAdd (double angle, double magnitude)

void	setY (double y)

uint8_t	getQuadrant () const

void	wrapHeading ()

void	transformForPose (const Pose2D &other)

bool	isOnLine (Pose2D LineEnd1, Pose2D LineEnd2)

bool	isPerpendicularToLine (double m)

void	multiply (double d)

Static Public Member Functions
static Pose2D	fromPolar (double magnitude, double angle)

static double	degreesToRadians (double degrees)

static double	radiansToDegrees (double radians)

static Pose2D	parseFromStream (std::istringstream &stream)

static double	getAngleBetweenPoints (Pose2D corner, Pose2D end1, Pose2D end2)

Protected Attributes
double	x

double	y

double	heading

Friends
std::ostream &	operator<< (std::ostream &os, const Pose2D &d)

Detailed Description

A class representing a 2D position and a heading. Implements common vector functions

Definition at line 23 of file Pose2D.hpp.

Constructor & Destructor Documentation

◆ Pose2D() [1/4]

Pose2D::Pose2D	(	double	x,
		double	y,
		double	heading )

Consctructs a new Pose2D object

Parameters

x	the x component
y	the y component
heading	the heading

Definition at line 7 of file Pose2D.cpp.

◆ Pose2D() [2/4]

Pose2D::Pose2D	(	double	x,
		double	y )

Constructs a new Pose2D object

Parameters

x	component
y	component

Definition at line 13 of file Pose2D.cpp.

◆ Pose2D() [3/4]

Pose2D::Pose2D ( )

Makes a new Pose2D with 0's as default

Definition at line 18 of file Pose2D.cpp.

◆ Pose2D() [4/4]

Pose2D::Pose2D ( const Pose2D & position )

Constructs a new Pose2D. Copy constructor.

Parameters

position the pose to copy

Definition at line 64 of file Pose2D.cpp.

Member Function Documentation

◆ addAngle()

void Pose2D::addAngle ( double angle )

Add the angle to heading

Parameters

angle gets added to "this" heading

Definition at line 82 of file Pose2D.cpp.

◆ angleTo()

double Pose2D::angleTo ( const Pose2D & other ) const

Calculates the angle from one node to another

Parameters

other angle to get to

Returns: the angle between two nodes

Definition at line 78 of file Pose2D.cpp.

◆ clone()

Pose2D Pose2D::clone ( ) const

Makes a copy of this node

Returns: the copy of this node

Definition at line 106 of file Pose2D.cpp.

◆ degreesToRadians()

double Pose2D::degreesToRadians ( double degrees )

static

Calculates the radian equivalent of degrees

Parameters

degrees the angle in degrees

Returns: the angle in radians

Definition at line 200 of file Pose2D.cpp.

◆ distanceTo()

double Pose2D::distanceTo ( const Pose2D & other ) const

Calculates the distance between two nodes

Parameters

other the other node to calculate the distance to

Returns: the distance between the two nodes

Definition at line 86 of file Pose2D.cpp.

◆ dotProduct()

double Pose2D::dotProduct ( const Pose2D & other ) const

Calculate the dot product from the nodes: "this" and other

Parameters

other other node to calculate the dot product with

Returns: a double resembling the dot product

Definition at line 226 of file Pose2D.cpp.

◆ fromPolar()

Pose2D Pose2D::fromPolar	(	double	magnitude,
		double	angle )

static

Creates a new Pose2D from polar coordinats

Parameters

magnitude	the magnitude of the position
angle	the angle of the position

Returns: A Pose2D object representing the polar coordinates

Definition at line 193 of file Pose2D.cpp.

◆ getAngleBetweenPoints()

static double Pose2D::getAngleBetweenPoints	(	Pose2D	corner,
		Pose2D	end1,
		Pose2D	end2 )

static

gets the angle between points in radians.

Parameters

corner
end1
end2

Returns: the angle between all of these points

◆ getHeading()

double Pose2D::getHeading ( ) const

get the heading of the position

Returns: the heading of the bot

Definition at line 155 of file Pose2D.cpp.

◆ getQuadrant()

uint8_t Pose2D::getQuadrant ( ) const

Gets the quadrant that a Pose is in. If the pose is on the origin or on an intercept it return's 0. otherwise going from pos pos (1) it travels counter clockwise around in a circle

Returns: (0, 0): 0 (+, +): 1 (-, +): 2 (-, -): 3 (+, -): 4

Definition at line 171 of file Pose2D.cpp.

◆ getX()

double Pose2D::getX ( ) const

get the x component of the position

Returns: the c component

Definition at line 147 of file Pose2D.cpp.

◆ getY()

double Pose2D::getY ( ) const

gets the y component of the position

Returns: the y component

Definition at line 151 of file Pose2D.cpp.

◆ isOnLine()

bool Pose2D::isOnLine	(	Pose2D	LineEnd1,
		Pose2D	LineEnd2 )

Makes a slope intercept object from two pose2Ds

Parameters

one	the first position
two	the second position

Returns: Slope intercept object that runs through two points Determines whether a pose is on a given bounded line

Parameters

LineEnd1	one endpoint of the line
LineEnd2	the other endpoint of the line

Definition at line 24 of file Pose2D.cpp.

◆ isPerpendicularToLine()

bool Pose2D::isPerpendicularToLine ( double m )

Determines whether a position is perpendicular to a given line

◆ minus()

void Pose2D::minus ( Pose2D other )

Subtract this by other. Subtracts the components

Parameters

other the other node to subtract by

Definition at line 187 of file Pose2D.cpp.

◆ multiply()

void Pose2D::multiply ( double d )

Multiplys the x and y components by a scalar

Definition at line 267 of file Pose2D.cpp.

◆ normalize()

Pose2D Pose2D::normalize ( ) const

Normalizes a position to a unit vector

Returns: a unit vector representing this position

Definition at line 221 of file Pose2D.cpp.

◆ parseFromStream()

Pose2D Pose2D::parseFromStream ( std::istringstream & stream )

static

Parse a pose 2d from a string stream

Parameters

stream the stream to parse from

Returns: a pose2D from the data in the stream

Definition at line 204 of file Pose2D.cpp.

◆ plus()

void Pose2D::plus ( const Pose2D & other )

Computes a vector addition. Adds components of vectors together

Parameters

other the other pose

Definition at line 100 of file Pose2D.cpp.

◆ plusCoord()

void Pose2D::plusCoord ( const Pose2D & other )

Sum of two coordinates

Parameters

other the node to add

Definition at line 123 of file Pose2D.cpp.

◆ radiansToDegrees()

static double Pose2D::radiansToDegrees ( double radians )

static

Calculates the degree equivalent of radians

Parameters

radians the angle in radians

Returns: the angle in degrees

◆ rotateByAngle()

void Pose2D::rotateByAngle ( double angle )

Uses a rotation matrix to rotate a Pose2D by an angle. Rotates about the origin.

Parameters

angle to rotate by.

Definition at line 116 of file Pose2D.cpp.

◆ rotateByPose()

void Pose2D::rotateByPose ( const Pose2D & rotation )

Rotate a Pose2D by the a rotation cooresponding to the heading of the other pose

Parameters

rotation the pose to rotate by

Definition at line 128 of file Pose2D.cpp.

◆ scaleBy()

Pose2D Pose2D::scaleBy ( double scaler ) const

Scales a position by another. Returs result

Parameters

scaler amount to scale this vector as a pose by

Returns: the result of the scaling operation

Definition at line 217 of file Pose2D.cpp.

◆ setHeading()

void Pose2D::setHeading ( double angle )

Sets the heading of the Pose

Parameters

angle the angle to set the Pose at

Definition at line 159 of file Pose2D.cpp.

◆ setX()

void Pose2D::setX ( double x )

Setter for x

Parameters

x	the new x value

Definition at line 163 of file Pose2D.cpp.

◆ setY()

void Pose2D::setY ( double y )

Setter for y

Parameters

y	the new y value

Definition at line 167 of file Pose2D.cpp.

◆ squareOfDistanceTo()

double Pose2D::squareOfDistanceTo ( const Pose2D & other ) const

calculate the squared distance to another object

Parameters

other the object to get the squared distance to

Returns: the squared distance to the other object

Definition at line 90 of file Pose2D.cpp.

◆ subtractBy()

Pose2D Pose2D::subtractBy ( const Pose2D & other ) const

Subtract "this" from other by components and return the result

Parameters

other the other node to subtract by

Returns: the result of the subtraction

Definition at line 213 of file Pose2D.cpp.

◆ transformForPose()

void Pose2D::transformForPose ( const Pose2D & other )

transforms a given pose for another's frame

Parameters

other the other frame

Definition at line 94 of file Pose2D.cpp.

◆ transformPose()

void Pose2D::transformPose ( const Pose2D & modifier )

transform a position with a rotation and a translation

Parameters

modifier the heading gets used as the rotation. The compoenent get used as the translation

Definition at line 142 of file Pose2D.cpp.

◆ translateByMagnitude()

void Pose2D::translateByMagnitude ( double magnitude )

This is admitedly a bit of a goofy function. We take the magnitude of the translation and extend the current position by that much in the heading of the pose. I like to think of the Pose2D as a vector, then we take the heading and combine it into a pollar coordinate with the magnitude. Then we do vector addition on the Pose2D.

Parameters

magnitude to extend by

Definition at line 137 of file Pose2D.cpp.

◆ translateByPose()

void Pose2D::translateByPose ( const Pose2D & translation )

Translation for a pose by another pose. Vector addition

Parameters

translation the pose to add

Definition at line 132 of file Pose2D.cpp.

◆ vecAdd()

void Pose2D::vecAdd	(	double	angle,
		double	magnitude )

Computes a vector addition from an angle and quantity

Parameters

angle	the angle component of the vector
magnitude	the quantity component of the vector

Definition at line 110 of file Pose2D.cpp.

◆ wrapHeading()

void Pose2D::wrapHeading ( )

Wraps a heading to - PI -> PI

Definition at line 235 of file Pose2D.cpp.

Friends And Related Symbol Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const Pose2D &	d )

friend

To string for a pose2D

Parameters

os	output stream
d	the pose2D to reference

Returns

Definition at line 230 of file Pose2D.cpp.

Member Data Documentation

◆ heading

double Pose2D::heading

protected

Definition at line 25 of file Pose2D.hpp.

◆ x

double Pose2D::x

protected

Definition at line 25 of file Pose2D.hpp.

◆ y

double Pose2D::y

protected

Definition at line 25 of file Pose2D.hpp.

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

/home/calebk/Documents/coding/RoombaController/src/Pose2D.hpp
/home/calebk/Documents/coding/RoombaController/src/Pose2D.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Pose2D() [1/4]

◆ Pose2D() [2/4]

◆ Pose2D() [3/4]

◆ Pose2D() [4/4]

Member Function Documentation

◆ addAngle()

◆ angleTo()

◆ clone()

◆ degreesToRadians()

◆ distanceTo()

◆ dotProduct()

◆ fromPolar()

◆ getAngleBetweenPoints()

◆ getHeading()

◆ getQuadrant()

◆ getX()

◆ getY()

◆ isOnLine()

◆ isPerpendicularToLine()

◆ minus()

◆ multiply()

◆ normalize()

◆ parseFromStream()

◆ plus()

◆ plusCoord()

◆ radiansToDegrees()

◆ rotateByAngle()

◆ rotateByPose()

◆ scaleBy()

◆ setHeading()

◆ setX()

◆ setY()

◆ squareOfDistanceTo()

◆ subtractBy()

◆ transformForPose()

◆ transformPose()

◆ translateByMagnitude()

◆ translateByPose()

◆ vecAdd()

◆ wrapHeading()

Friends And Related Symbol Documentation

◆ operator<<

Member Data Documentation

◆ heading

◆ x

◆ y