lipm_walking::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...
	SE2d (const Eigen::Vector3d &v)
	SE2d (const sva::PTransformd &pose)
	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...
const Eigen::Vector3d	vector () const noexcept
	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 43 of file SE2d.h.

Constructor & Destructor Documentation

SE2d() [1/3]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW lipm_walking::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 56 of file SE2d.h.

SE2d() [2/3]

lipm_walking::utils::SE2d::SE2d ( const Eigen::Vector3d &  v )

inline

Definition at line 58 of file SE2d.h.

SE2d() [3/3]

lipm_walking::utils::SE2d::SE2d ( const sva::PTransformd &  pose )

inline

Initialize a new SE2 transform.

Assumes that rotation is around the +z axis

Parameters

pose	World pose

Definition at line 66 of file SE2d.h.

Member Function Documentation

asPTransform()

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

inline

Convert to Plucker transform.

Definition at line 87 of file SE2d.h.

operator*()

sva::PTransformd lipm_walking::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 78 of file SE2d.h.

ori()

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

inline

Get 2D orientation vector.

Returns

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

Definition at line 107 of file SE2d.h.

pos()

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

inline

Get 2D position.

Returns

pos Position vector {x, y}.

Definition at line 97 of file SE2d.h.

vector()

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

inlinenoexcept

Get transform in vector form.

Returns

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

Definition at line 117 of file SE2d.h.

vectorDegrees()

Eigen::Vector3d lipm_walking::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 127 of file SE2d.h.

Member Data Documentation

theta

double lipm_walking::utils::SE2d::theta

Orientation coordinate.

Definition at line 135 of file SE2d.h.

x

double lipm_walking::utils::SE2d::x

First translation coordinate.

Definition at line 133 of file SE2d.h.

y

double lipm_walking::utils::SE2d::y

Second translation coordinate.

Definition at line 134 of file SE2d.h.