cpp_robotics::Transform

2次元のロボットの座標を扱うクラス More...

#include <transform.hpp>

Public Types

	Name
using FLOATING_TYPE	value_type
using Vector2< value_type >	vector_type

Public Functions

	Name
	Transform() =default Construct a new Field Vector 2 object.
constexpr	Transform(const value_type _x, const value_type _y, const value_type _theta) Construct a new Field Vector 2 object.
constexpr	Transform(const vector_type & _xy, const value_type _theta) Construct a new Field Vector 2 object.
constexpr	Transform(const Transform & ) =default Construct a new Field Vector 2 object.
constexpr vector_type	make_vector2() const xy成分のVector2を生成
constexpr void	set(value_type vx, value_type vy, value_type vtheta)
value_type	distance() const 原点からxy座標までの距離を返す
void	rotate(const value_type theta) 原点中心に回転
void	rotate(const value_type rotX, const value_type rotY, const value_type theta) 指定座標中心に回転
void	rotate(vector_type rotPos, const value_type theta) 指定座標中心に回転
void	set_polar(const value_type radius, const value_type angle, const value_type robotTheta) 極座標指定
bool	is_zero() const
bool	is_zero_pos() const
bool	is_zero_angle() const
bool	has_nan() const
constexpr bool	operator==(const Transform v) const
constexpr bool	operator!=(const Transform & v) const
constexpr Transform	operator+(const Transform & v) const
constexpr Transform	operator-(const Transform & v) const
constexpr Transform &	operator+=(const Transform & v)
constexpr Transform &	operator-=(const Transform & v)
constexpr Transform	operator+(const vector_type & v) const
constexpr Transform	operator-(const vector_type & v) const
constexpr Transform	operator+(const value_type angle) const
constexpr Transform	operator-(const value_type angle) const
constexpr Transform &	operator+=(const vector_type & v)
constexpr Transform &	operator-=(const vector_type & v)
constexpr Transform &	operator+=(const value_type angle)
constexpr Transform &	operator-=(const value_type angle)
constexpr Transform	operator*(const value_type value) const
constexpr Transform	operator/(const value_type value) const
constexpr Transform &	operator*=(const value_type value)
constexpr Transform &	operator/=(const value_type value)
value_type &	operator[](const int index)
constexpr value_type	operator[](const int index) const
constexpr value_type	get_angle(Transform & a, Transform & b) Get the Angle object.
value_type	get_distance(Transform & a, Transform & b) Get the Distance object.
Transform	get_lerp(Transform & a, Transform & b, const value_type t) lerp function
constexpr Transform	origin()

Public Attributes

	Name
value_type	x
value_type	y
value_type	theta

Detailed Description

template <typename FLOATING_TYPE >
struct cpp_robotics::Transform;

2次元のロボットの座標を扱うクラス

Public Types Documentation

using value_type

using cpp_robotics::Transform< FLOATING_TYPE >::value_type =  FLOATING_TYPE;

using vector_type

using cpp_robotics::Transform< FLOATING_TYPE >::vector_type =  Vector2<value_type>;

Public Functions Documentation

function Transform

Transform() =default

Construct a new Field Vector 2 object.

function Transform

inline constexpr Transform(
    const value_type _x,
    const value_type _y,
    const value_type _theta
)

Construct a new Field Vector 2 object.

Parameters:

• x
• y
• theta

function Transform

inline constexpr Transform(
    const vector_type & _xy,
    const value_type _theta
)

Construct a new Field Vector 2 object.

function Transform

constexpr Transform(
    const Transform & 
) =default

Construct a new Field Vector 2 object.

Parameters:

• v

function make_vector2

inline constexpr vector_type make_vector2() const

xy成分のVector2を生成

function set

inline constexpr void set(
    value_type vx,
    value_type vy,
    value_type vtheta
)

Parameters:

• vx
• vy
• vtheta

function distance

inline value_type distance() const

原点からxy座標までの距離を返す

Return: value_type

function rotate

inline void rotate(
    const value_type theta
)

原点中心に回転

Parameters:

• theta

function rotate

inline void rotate(
    const value_type rotX,
    const value_type rotY,
    const value_type theta
)

指定座標中心に回転

Parameters:

• rotX
• rotY
• theta

function rotate

inline void rotate(
    vector_type rotPos,
    const value_type theta
)

指定座標中心に回転

Parameters:

• rotPos
• theta

function set_polar

inline void set_polar(
    const value_type radius,
    const value_type angle,
    const value_type robotTheta
)

極座標指定

Parameters:

• radius
• angle
• robotTheta

function is_zero

inline bool is_zero() const

Return:

• true
• false

function is_zero_pos

inline bool is_zero_pos() const

Return:

• true
• false

function is_zero_angle

inline bool is_zero_angle() const

Return:

• true
• false

function has_nan

inline bool has_nan() const

Return:

• true
• false

function operator==

inline constexpr bool operator==(
    const Transform v
) const

Parameters:

• v

Return:

• true
• false

function operator!=

inline constexpr bool operator!=(
    const Transform & v
) const

Parameters:

• v

Return:

• true
• false

function operator+

inline constexpr Transform operator+(
    const Transform & v
) const

Parameters:

• v

Return: Transform

function operator-

inline constexpr Transform operator-(
    const Transform & v
) const

Parameters:

• v

Return: Transform

function operator+=

inline constexpr Transform & operator+=(
    const Transform & v
)

Parameters:

• v

Return: Transform&

function operator-=

inline constexpr Transform & operator-=(
    const Transform & v
)

Parameters:

• v

Return: Transform&

function operator+

inline constexpr Transform operator+(
    const vector_type & v
) const

Parameters:

• v

Return: Transform

function operator-

inline constexpr Transform operator-(
    const vector_type & v
) const

Parameters:

• v

Return: Transform

function operator+

inline constexpr Transform operator+(
    const value_type angle
) const

Parameters:

• angle

Return: Transform

function operator-

inline constexpr Transform operator-(
    const value_type angle
) const

Parameters:

• angle

Return: Transform

function operator+=

inline constexpr Transform & operator+=(
    const vector_type & v
)

Parameters:

• v

Return: Transform&

function operator-=

inline constexpr Transform & operator-=(
    const vector_type & v
)

Parameters:

• v

Return: Transform&

function operator+=

inline constexpr Transform & operator+=(
    const value_type angle
)

Parameters:

• angle

Return: Transform&

function operator-=

inline constexpr Transform & operator-=(
    const value_type angle
)

Parameters:

• angle

Return: Transform&

function operator*

inline constexpr Transform operator*(
    const value_type value
) const

Parameters:

• value

Return: Transform

function operator/

inline constexpr Transform operator/(
    const value_type value
) const

Parameters:

• value

Return: Transform

function operator*=

inline constexpr Transform & operator*=(
    const value_type value
)

Parameters:

• value

Return: Transform&

function operator/=

inline constexpr Transform & operator/=(
    const value_type value
)

Parameters:

• value

Return: Transform&

function operator[]

inline value_type & operator[](
    const int index
)

Parameters:

• index

Return: value_type&

function operator[]

inline constexpr value_type operator[](
    const int index
) const

Parameters:

• index

Return: constexpr value_type

function get_angle

static inline constexpr value_type get_angle(
    Transform & a,
    Transform & b
)

Get the Angle object.

Parameters:

• a
• b

Return: value_type

function get_distance

static inline value_type get_distance(
    Transform & a,
    Transform & b
)

Get the Distance object.

Parameters:

• a
• b

Return: value_type

function get_lerp

static inline Transform get_lerp(
    Transform & a,
    Transform & b,
    const value_type t
)

lerp function

Parameters:

• a
• b
• t

Return: Transform

function origin

static inline constexpr Transform origin()

Return: Transform

Public Attributes Documentation

variable x

value_type x;

variable y

value_type y;

variable theta

value_type theta;

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Updated on 2024-05-28 at 06:55:40 +0000