g2o::tutorial::SE2 Class Reference

#include <se2.h>

Public Member Functions
	SE2 ()
	SE2 (double x, double y, double theta)
const Eigen::Vector2d &	translation () const
Eigen::Vector2d &	translation ()
const Eigen::Rotation2Dd &	rotation () const
Eigen::Rotation2Dd &	rotation ()
SE2	operator* (const SE2 &tr2) const
SE2 &	operator*= (const SE2 &tr2)
Eigen::Vector2d	operator* (const Eigen::Vector2d &v) const
SE2	inverse () const
double	operator[] (int i) const
double &	operator[] (int i)
void	fromVector (const Eigen::Vector3d &v)
Eigen::Vector3d	toVector () const

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Attributes
Eigen::Rotation2Dd	_R
Eigen::Vector2d	_t

Detailed Description

Definition at line 42 of file se2.h.

Constructor & Destructor Documentation

SE2() [1/2]

g2o::tutorial::SE2::SE2 ( )

inline

Definition at line 45 of file se2.h.

: _R(0), _t(0, 0) {}

References _R, and _t.

Referenced by fromVector(), inverse(), operator*(), and operator*=().

SE2() [2/2]

g2o::tutorial::SE2::SE2 ( double x, double y, double theta )

inline

Definition at line 47 of file se2.h.

: _R(theta), _t(x, y) {}

References _R, and _t.

Member Function Documentation

fromVector()

void g2o::tutorial::SE2::fromVector ( const Eigen::Vector3d & v )

inline

Definition at line 96 of file se2.h.

{ *this = SE2(v[0], v[1], v[2]); }

References SE2().

inverse()

SE2 g2o::tutorial::SE2::inverse ( ) const

inline

Definition at line 76 of file se2.h.

                      {
    SE2 ret;
    ret._R = _R.inverse();
    ret._R.angle() = normalize_theta(ret._R.angle());
    ret._t = ret._R * (Eigen::Vector2d(-1 * _t));
    return ret;
  }

References _R, _t, g2o::normalize_theta(), and SE2().

Referenced by g2o::tutorial::EdgeSE2::setMeasurement(), and g2o::tutorial::Simulator::simulate().

operator*() [1/2]

Eigen::Vector2d g2o::tutorial::SE2::operator* ( const Eigen::Vector2d & v ) const

inline

Definition at line 72 of file se2.h.

                                                        {
    return _t + _R * v;
  }

References _R, and _t.

operator*() [2/2]

SE2 g2o::tutorial::SE2::operator* ( const SE2 & tr2 ) const

inline

Definition at line 57 of file se2.h.

                                      {
    SE2 result(*this);
    result._t += _R * tr2._t;
    result._R.angle() += tr2._R.angle();
    result._R.angle() = normalize_theta(result._R.angle());
    return result;
  }

References _R, _t, g2o::normalize_theta(), and SE2().

operator*=()

SE2 & g2o::tutorial::SE2::operator*= ( const SE2 & tr2 )

inline

Definition at line 65 of file se2.h.

                                  {
    _t += _R * tr2._t;
    _R.angle() += tr2._R.angle();
    _R.angle() = normalize_theta(_R.angle());
    return *this;
  }

References _R, _t, g2o::normalize_theta(), and SE2().

operator[]() [1/2]

double & g2o::tutorial::SE2::operator[] ( int i )

inline

Definition at line 90 of file se2.h.

                            {
    assert(i >= 0 && i < 3);
    if (i < 2) return _t(i);
    return _R.angle();
  }

References _R, and _t.

operator[]() [2/2]

double g2o::tutorial::SE2::operator[] ( int i ) const

inline

Definition at line 84 of file se2.h.

                                 {
    assert(i >= 0 && i < 3);
    if (i < 2) return _t(i);
    return _R.angle();
  }

References _R, and _t.

rotation() [1/2]

Eigen::Rotation2Dd & g2o::tutorial::SE2::rotation ( )

inline

Definition at line 55 of file se2.h.

{ return _R; }

References _R.

rotation() [2/2]

const Eigen::Rotation2Dd & g2o::tutorial::SE2::rotation ( ) const

inline

Definition at line 53 of file se2.h.

{ return _R; }

References _R.

toVector()

Eigen::Vector3d g2o::tutorial::SE2::toVector ( ) const

inline

Definition at line 98 of file se2.h.

                                 {
    Eigen::Vector3d ret;
    for (int i = 0; i < 3; i++) {
      ret(i) = (*this)[i];
    }
    return ret;
  }

Referenced by g2o::tutorial::EdgeSE2::computeError(), and g2o::tutorial::Simulator::sampleTransformation().

translation() [1/2]

Eigen::Vector2d & g2o::tutorial::SE2::translation ( )

inline

Definition at line 51 of file se2.h.

{ return _t; }

References _t.

translation() [2/2]

const Eigen::Vector2d & g2o::tutorial::SE2::translation ( ) const

inline

Definition at line 49 of file se2.h.

{ return _t; }

References _t.

Referenced by g2o::tutorial::Simulator::simulate().

Member Data Documentation

_R

Eigen::Rotation2Dd g2o::tutorial::SE2::_R

protected

Definition at line 107 of file se2.h.

Referenced by inverse(), operator*(), operator*(), operator*=(), operator[](), operator[](), rotation(), rotation(), SE2(), and SE2().

_t

Eigen::Vector2d g2o::tutorial::SE2::_t

protected

Definition at line 108 of file se2.h.

Referenced by inverse(), operator*(), operator*(), operator*=(), operator[](), operator[](), SE2(), SE2(), translation(), and translation().

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g2o::tutorial::SE2::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 44 of file se2.h.

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

• /build/reproducible-path/g2o-0~20230806/g2o/examples/tutorial_slam2d/se2.h