g2o::SE2 Class Reference

represent SE2 More...

#include <se2.h>

Public Member Functions
	SE2 ()
	SE2 (const Isometry2 &iso)
	SE2 (const Vector3 &v)
	SE2 (double x, double y, double theta)
const Vector2 &	translation () const
	translational component
void	setTranslation (const Vector2 &t_)
const Rotation2D &	rotation () const
	rotational component
void	setRotation (const Rotation2D &R_)
SE2	operator* (const SE2 &tr2) const
	concatenate two SE2 elements (motion composition)
SE2 &	operator*= (const SE2 &tr2)
	motion composition operator
Vector2	operator* (const Vector2 &v) const
	project a 2D vector
SE2	inverse () const
	invert :-)
double	operator[] (int i) const
void	fromVector (const Vector3 &v)
	assign from a 3D vector (x, y, theta)
Vector3	toVector () const
	convert to a 3D vector (x, y, theta)
Isometry2	toIsometry () const

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Attributes
Rotation2D	_R
Vector2	_t

Detailed Description

represent SE2

Definition at line 43 of file se2.h.

Constructor & Destructor Documentation

SE2() [1/4]

g2o::SE2::SE2 ( )

inline

Definition at line 46 of file se2.h.

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

SE2() [2/4]

g2o::SE2::SE2 ( const Isometry2 &  iso )

inline

Definition at line 48 of file se2.h.

                            : _R(0), _t(iso.translation()) {
    _R.fromRotationMatrix(iso.linear());
  }

SE2() [3/4]

g2o::SE2::SE2 ( const Vector3 &  v )

inline

Definition at line 52 of file se2.h.

: _R(v[2]), _t(v[0], v[1]) {}

SE2() [4/4]

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

inline

Definition at line 54 of file se2.h.

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

Member Function Documentation

fromVector()

void g2o::SE2::fromVector ( const Vector3 &  v )

inline

assign from a 3D vector (x, y, theta)

Definition at line 102 of file se2.h.

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

Referenced by g2o::EdgeSE2PureCalib::computeError(), EdgeCalib::computeError(), g2o::EdgeSE2OdomDifferentialCalib::computeError(), main(), g2o::tutorial::VertexSE2::read(), and g2o::Gm2dlIO::readGm2dl().

inverse()

SE2 g2o::SE2::inverse ( ) const

inline

invert :-)

Definition at line 83 of file se2.h.

                             {
    SE2 ret;
    ret._R = _R.inverse();
    ret._R.angle() = normalize_theta(ret._R.angle());
#ifdef _MSC_VER
    ret._t = ret._R * (Vector2(_t * -1.));
#else
    ret._t = ret._R * (_t * -1.);
#endif
    return ret;
  }

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

Referenced by g2o::addOdometryCalibLinksDifferential(), g2o::OnlineEdgeSE2::chi2(), g2o::EdgeSE2PureCalib::computeError(), EdgeCalib::computeError(), g2o::tutorial::EdgeSE2::computeError(), g2o::EdgeSE2OdomDifferentialCalib::computeError(), g2o::EdgeSE2::computeError(), g2o::EdgeSE2LotsOfXY::computeError(), g2o::EdgeSE2PointXY::computeError(), g2o::EdgeSE2PointXYBearing::computeError(), g2o::EdgeSE2TwoPointsXY::computeError(), g2o::EdgeSE2Line2D::computeError(), g2o::EdgeSE2Segment2D::computeError(), g2o::EdgeSE2Segment2DLine::computeError(), g2o::EdgeSE2Segment2DPointLine::computeError(), g2o::EdgeSE2SensorCalib::initialEstimate(), g2o::EdgeSE2Offset::initialEstimate(), g2o::SensorSegment2D::isVisible(), g2o::SensorSegment2DLine::isVisible(), g2o::SensorSegment2DPointLine::isVisible(), main(), g2o::RobotLaser::read(), g2o::EdgeSE2SensorCalib::read(), g2o::EdgeSE2::read(), g2o::EdgeSE2Prior::read(), g2o::Gm2dlIO::readGm2dl(), g2o::EdgeSE2SensorCalib::setMeasurement(), g2o::EdgeSE2::setMeasurement(), g2o::EdgeSE2Offset::setMeasurement(), g2o::EdgeSE2Prior::setMeasurement(), g2o::EdgeSE2Prior::setMeasurementData(), g2o::EdgeSE2::setMeasurementFromState(), g2o::EdgeSE2LotsOfXY::setMeasurementFromState(), g2o::EdgeSE2PointXY::setMeasurementFromState(), g2o::EdgeSE2PointXYBearing::setMeasurementFromState(), g2o::EdgeSE2TwoPointsXY::setMeasurementFromState(), g2o::EdgeSE2Line2D::setMeasurementFromState(), g2o::EdgeSE2Segment2D::setMeasurementFromState(), g2o::EdgeSE2Segment2DLine::setMeasurementFromState(), g2o::EdgeSE2Segment2DPointLine::setMeasurementFromState(), and g2o::CacheSE2Offset::updateImpl().

operator*() [1/2]

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

inline

concatenate two SE2 elements (motion composition)

Definition at line 65 of file se2.h.

                                             {
    SE2 result(*this);
    result *= tr2;
    return result;
  }

operator*() [2/2]

Vector2 g2o::SE2::operator* ( const Vector2 &  v ) const

inline

project a 2D vector

Definition at line 80 of file se2.h.

{ return _t + _R * v; }

operator*=()

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

inline

motion composition operator

Definition at line 72 of file se2.h.

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

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

operator[]()

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

inline

Definition at line 95 of file se2.h.

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

rotation()

const Rotation2D & g2o::SE2::rotation ( ) const

inline

rotational component

Definition at line 61 of file se2.h.

{ return _R; }

Referenced by g2o::addOdometryCalibLinksDifferential(), g2o::ClosedFormCalibration::calibrate(), g2o::EdgeSE2Offset::computeError(), g2o::EdgeSE2Line2D::computeError(), g2o::EdgeSE2PointXYBearing::initialEstimate(), g2o::EdgeSE2Line2D::initialEstimate(), g2o::EdgeSE2::linearizeOplus(), g2o::EdgeSE2LotsOfXY::linearizeOplus(), g2o::EdgeSE2PointXY::linearizeOplus(), main(), g2o::EdgeSE2WriteGnuplotAction::operator()(), g2o::EdgeSE2PointXYWriteGnuplotAction::operator()(), g2o::EdgeSE2PointXYBearingWriteGnuplotAction::operator()(), g2o::VertexSE2WriteGnuplotAction::operator()(), g2o::operator*(), g2o::G2oSlamInterface::printVertex(), g2o::EdgeSE2Line2D::setMeasurementFromState(), g2o::ParameterSE2Offset::setOffset(), updateDisplay(), and g2o::CacheSE2Offset::updateImpl().

setRotation()

void g2o::SE2::setRotation ( const Rotation2D &  R_ )

inline

Definition at line 62 of file se2.h.

{ _R = R_; }

Referenced by g2o::EdgeSE2PointXYBearing::initialEstimate(), and main().

setTranslation()

void g2o::SE2::setTranslation ( const Vector2 &  t_ )

inline

Definition at line 58 of file se2.h.

{ _t = t_; }

Referenced by main().

toIsometry()

Isometry2 g2o::SE2::toIsometry ( ) const

inline

Definition at line 109 of file se2.h.

                                      {
    Isometry2 iso = Isometry2::Identity();
    iso.linear() = _R.toRotationMatrix();
    iso.translation() = _t;
    return iso;
  }

toVector()

Vector3 g2o::SE2::toVector ( ) const

inline

convert to a 3D vector (x, y, theta)

Definition at line 105 of file se2.h.

                                  {
    return Vector3(_t.x(), _t.y(), _R.angle());
  }

Referenced by g2o::OnlineEdgeSE2::chi2(), g2o::EdgeSE2PureCalib::computeError(), EdgeCalib::computeError(), g2o::EdgeSE2OdomDifferentialCalib::computeError(), g2o::EdgeSE2SensorCalib::computeError(), g2o::EdgeSE2::computeError(), g2o::EdgeSE2Prior::computeError(), gnudump_edges(), main(), g2o::tutorial::VertexSE2::write(), and g2o::RobotLaser::write().

translation()

const Vector2 & g2o::SE2::translation ( ) const

inline

translational component

Definition at line 57 of file se2.h.

{ return _t; }

Referenced by g2o::addOdometryCalibLinksDifferential(), g2o::ClosedFormCalibration::calibrate(), g2o::EdgeSE2Offset::computeError(), g2o::EdgeSE2XYPrior::computeError(), g2o::EdgeSE2Line2D::computeError(), g2o::Slam2DViewer::draw(), g2o::SparseOptimizerOnline::gnuplotVisualization(), g2o::EdgeSE2Line2D::initialEstimate(), g2o::EdgeSE2::linearizeOplus(), g2o::EdgeSE2LotsOfXY::linearizeOplus(), g2o::EdgeSE2PointXY::linearizeOplus(), g2o::EdgeSE2PointXYOffset::linearizeOplus(), main(), g2o::EdgeSE2WriteGnuplotAction::operator()(), g2o::EdgeSE2PointXYWriteGnuplotAction::operator()(), g2o::EdgeSE2PointXYBearingWriteGnuplotAction::operator()(), g2o::VertexSE2WriteGnuplotAction::operator()(), g2o::operator*(), g2o::G2oSlamInterface::printVertex(), g2o::EdgeSE2Line2D::setMeasurementFromState(), g2o::ParameterSE2Offset::setOffset(), updateDisplay(), and g2o::CacheSE2Offset::updateImpl().

Member Data Documentation

_R

Rotation2D g2o::SE2::_R

protected

Definition at line 117 of file se2.h.

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

_t

Vector2 g2o::SE2::_t

protected

Definition at line 118 of file se2.h.

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g2o::SE2::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 45 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/types/slam2d/se2.h