utils::SE2d Struct Reference

SE2 transform. More...

#include <lipm_walking/utils/SE2d.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	SE2d (double x=0., double y=0., double theta=0.)
	Initialize a new SE2 transform. More...
sva::PTransformd	operator* (const sva::PTransformd &X_0_a) const
	Apply SE2 transform in horizontal plane of an SE3 frame. More...
sva::PTransformd	asPTransform () const
	Convert to Plucker transform. More...
Eigen::Vector2d	pos () const
	Get 2D position. More...
Eigen::Vector2d	ori () const
	Get 2D orientation vector. More...
Eigen::Vector3d	vector ()
	Get transform in vector form. More...
Eigen::Vector3d	vectorDegrees () const
	Get transform in vector form, with the angle expressed in degrees. More...

Public Attributes
double	x
	First translation coordinate. More...
double	y
	Second translation coordinate. More...
double	theta
	Orientation coordinate. More...

Detailed Description

SE2 transform.

Definition at line 40 of file SE2d.h.

Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW utils::SE2d::SE2d ( double  x = 0., double  y = 0., double  theta = 0.  )

inline

Initialize a new SE2 transform.

Parameters

x	First translation coordinate.
y	Second translation coordinate.
theta	Orientation coordinate.

Definition at line 53 of file SE2d.h.

Member Function Documentation

sva::PTransformd utils::SE2d::asPTransform ( ) const

inline

Convert to Plucker transform.

Definition at line 69 of file SE2d.h.

sva::PTransformd utils::SE2d::operator* ( const sva::PTransformd &  X_0_a ) const

inline

Apply SE2 transform in horizontal plane of an SE3 frame.

Parameters

X_0_a

Plucker transform of SE3 frame.

Definition at line 60 of file SE2d.h.

Eigen::Vector2d utils::SE2d::ori ( ) const

inline

Get 2D orientation vector.

Returns

t Orientation vector {cos(theta), sin(theta)}.

Definition at line 89 of file SE2d.h.

Eigen::Vector2d utils::SE2d::pos ( ) const

inline

Get 2D position.

Returns

pos Position vector {x, y}.

Definition at line 79 of file SE2d.h.

Eigen::Vector3d utils::SE2d::vector ( )

inline

Get transform in vector form.

Returns

v Vector {x, y, theta} of transform coordinates.

Definition at line 99 of file SE2d.h.

Eigen::Vector3d utils::SE2d::vectorDegrees ( ) const

inline

Get transform in vector form, with the angle expressed in degrees.

Returns

v Vector {x, y, theta[deg]} of transform coordinates.

Definition at line 109 of file SE2d.h.

Member Data Documentation

double utils::SE2d::theta

Orientation coordinate.

Definition at line 117 of file SE2d.h.

double utils::SE2d::x

First translation coordinate.

Definition at line 115 of file SE2d.h.

double utils::SE2d::y

Second translation coordinate.

Definition at line 116 of file SE2d.h.