#include <ariaUtil.h>
Inheritance diagram for ArPose::
Public Methods | |
ArPose (double x=0, double y=0, double th=0) | |
Constructor, with optional initial values. More... | |
ArPose (const ArPose &pose) | |
Copy Constructor. | |
virtual | ~ArPose (void) |
Destructor. | |
virtual void | setPose (double x, double y, double th=0) |
Sets the position to the given values. More... | |
virtual void | setPose (ArPose position) |
Sets the position equal to the given position. More... | |
void | setX (double x) |
Sets the x position. | |
void | setY (double y) |
Sets the y position. | |
void | setTh (double th) |
Sets the heading. | |
void | setThRad (double th) |
Sets the heading, using radians. | |
double | getX (void) |
Gets the x position. | |
double | getY (void) |
Gets the y position. | |
double | getTh (void) |
Gets the heading. | |
double | getThRad (void) |
Gets the heading, in radians. | |
void | getPose (double *x, double *y, double *th=NULL) |
Gets the whole position in one function call. More... | |
virtual double | findDistanceTo (ArPose position) |
Finds the distance from this position to the given position. More... | |
virtual double | findAngleTo (ArPose position) |
Finds the angle between this position and the given position. More... | |
virtual void | print (void) |
Logs the coordinates using ArLog. |
This class represents a robot position with heading. The heading defaults to 0, and so does not need to be used (this avoids having 2 types of positions). Everything in the class is inline so it should be fast.
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Constructor, with optional initial values. Sets the position with the given values, can be used with no variables, with just x and y, or with x, y, and th
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Finds the angle between this position and the given position.
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Finds the distance from this position to the given position.
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Gets the whole position in one function call. Gets the whole position at once, by giving it 2 or 3 pointers to doubles. If you give the function a null pointer for a value it won't try to use the null pointer, so you can pass in a NULL if you don't care about that value. Also note that th defaults to NULL so you can use this with just x and y.
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Sets the position equal to the given position.
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Sets the position to the given values. Sets the position with the given three values, but the theta does not need to be given as it defaults to 0.
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