trajopt::Pose2< T > Class Template Reference

Represents a 2D pose with translation and rotation. More...

#include <trajopt/geometry/pose2.hpp>

Public Member Functions
constexpr	Pose2 ()=default
	Constructs a pose at the origin facing toward the positive x-axis.
constexpr	Pose2 (Translation2< T > translation, Rotation2< T > rotation)
constexpr	Pose2 (T x, T y, Rotation2< T > rotation)
template<typename U>
constexpr	Pose2 (const Pose2< U > &other)
constexpr const Translation2< T > &	translation () const
constexpr const T &	x () const
constexpr const T &	y () const
constexpr const Rotation2< T > &	rotation () const
constexpr Pose2< T >	rotate_by (const Rotation2< T > &rotation) const

Detailed Description

template<typename T>
class trajopt::Pose2< T >

Represents a 2D pose with translation and rotation.

Constructor & Destructor Documentation

Pose2() [1/3]

template<typename T>

trajopt::Pose2< T >::Pose2 ( Translation2< T > translation, Rotation2< T > rotation )

inlineconstexpr

Constructs a pose with the specified translation and rotation.

Parameters

translation	The translational component of the pose.
rotation	The rotational component of the pose.

Pose2() [2/3]

template<typename T>

trajopt::Pose2< T >::Pose2 ( T x, T y, Rotation2< T > rotation )

inlineconstexpr

Constructs a pose with x and y translations instead of a separate translation.

Parameters

x	The x component of the translational component of the pose.
y	The y component of the translational component of the pose.
rotation	The rotational component of the pose.

Pose2() [3/3]

template<typename T>

template<typename U>

trajopt::Pose2< T >::Pose2 ( const Pose2< U > & other )

inlineexplicitconstexpr

Coerces one pose type into another.

Parameters

other

The other pose type.

Member Function Documentation

rotate_by()

template<typename T>

Pose2< T > trajopt::Pose2< T >::rotate_by ( const Rotation2< T > & rotation ) const

inlineconstexpr

Rotates the pose around the origin and returns the new pose.

Parameters

rotation

The rotation to transform the pose by.

Returns

The rotated pose.

rotation()

template<typename T>

const Rotation2< T > & trajopt::Pose2< T >::rotation ( ) const

inlineconstexpr

Returns the underlying rotation.

Returns

Reference to the rotational component of the pose.

translation()

template<typename T>

const Translation2< T > & trajopt::Pose2< T >::translation ( ) const

inlineconstexpr

Returns the underlying translation.

Returns

Reference to the translational component of the pose.

x()

template<typename T>

const T & trajopt::Pose2< T >::x ( ) const

inlineconstexpr

Returns the X component of the pose's translation.

Returns

The x component of the pose's translation.

y()

template<typename T>

const T & trajopt::Pose2< T >::y ( ) const

inlineconstexpr

Returns the Y component of the pose's translation.

Returns

The y component of the pose's translation.

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

• include/trajopt/geometry/pose2.hpp