lobot::Pose Class Reference

A simple structure for representing a robot's pose. More...

#include <Robots/LoBot/slam/LoPose.H>

List of all members.

Public Member Functions
Pose &	operator+= (const Pose &)
Pose	operator+ (const Pose &) const
Pose	operator* (float weight) const
	Pose (float x=0, float y=0, float theta=0)
	Pose initialization.
	Pose (const triple< float, float, float > &pose)
float	x () const
	Retrieving pose values.
float	y () const
float	t () const
float	theta () const
float	heading () const
float	bearing () const
void	x (float xx)
	Updating pose values.
void	y (float yy)
void	t (float th)
void	theta (float th)
void	heading (float th)
void	bearing (float th)
void	dx (float d)
void	dy (float d)
void	dt (float t)
void	dtheta (float t)

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Detailed Description

A simple structure for representing a robot's pose.

A robot's pose consists of its location specified using an (x, y) coordinate pair and its heading/bearing (i.e., theta). This class packages these three quantities in one neat little bundle.

Definition at line 69 of file LoPose.H.

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Constructor & Destructor Documentation

lobot::Pose::Pose	(	float	x = 0,
		float	y = 0,
		float	theta = 0
	)

Pose initialization.

Definition at line 57 of file LoPose.C.

Referenced by operator*(), and operator+().

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Member Function Documentation

Pose lobot::Pose::operator*

(

float

weight

)

const

This operator multiplies this pose's values by the supplied weighting factor and returns the scaled result in a new Pose object.

Definition at line 95 of file LoPose.C.

References Pose(), and x().

Pose lobot::Pose::operator+

(

const Pose &

p

)

const

This operator adds this pose to another and returns the result via a new Pose object.

Definition at line 89 of file LoPose.C.

References Pose(), and x().

Pose & lobot::Pose::operator+=

(

const Pose &

p

)

This operator adds this pose to another and retains the result in this Pose object itself.

Definition at line 80 of file LoPose.C.

References x().

void lobot::Pose::x

(

float

xx

)

[inline]

Updating pose values.

Definition at line 94 of file LoPose.H.

float lobot::Pose::x

(

)

const [inline]

Retrieving pose values.

Definition at line 84 of file LoPose.H.

Referenced by lobot::Particle::apply_motion_model(), operator*(), operator+(), operator+=(), lobot::Particle::randomize(), lobot::Map::submap(), and lobot::Scan::x().

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

• src/Robots/LoBot/slam/LoPose.H
• src/Robots/LoBot/slam/LoPose.C