Represents an x, y position with an orientation. More...

#include <ariaUtil.h>

Public Member Functions
	ArPose (double x=0, double y=0, double th=0)
	Constructor, with optional initial values. More...

	ArPose (const ArPose &pose)
	Copy Constructor.

virtual double	findAngleTo (ArPose position) const
	Finds the angle between this position and the given position. More...

virtual double	findDistanceTo (ArPose position) const
	Finds the distance from this position to the given position. More...

void	getPose (double x, double y, double *th=NULL) const
	Gets the whole position in one function call. More...

double	getTh (void) const
	Gets the heading.

double	getThRad (void) const
	Gets the heading, in radians.

double	getX (void) const
	Gets the x position.

double	getY (void) const
	Gets the y position.

virtual void	log (void) const
	Logs the coordinates using ArLog.

virtual bool	operator!= (const ArPose &other) const

virtual ArPose	operator+ (const ArPose &other) const
	Add the other pose's X, Y and theta to this pose's X, Y, and theta (sum in theta will be normalized to (-180,180)), and return the result.

ArPose &	operator+= (const ArPose &other)
	Adds the given pose to this one. More...

virtual ArPose	operator- (const ArPose &other) const
	Substract the other pose's X, Y, and theta from this pose's X, Y, and theta (difference in theta will be normalized to (-180,180)), and return the result.

ArPose &	operator-= (const ArPose &other)
	Subtracts the given pose from this one. More...

virtual bool	operator< (const ArPose &other) const
	Less than operator (for sets)

virtual bool	operator== (const ArPose &other) const
	Equality operator (for sets)

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	setTh (double th)
	Sets the heading.

void	setThRad (double th)
	Sets the heading, using radians.

void	setX (double x)
	Sets the x position.

void	setY (double y)
	Sets the y position.

virtual double	squaredFindDistanceTo (ArPose position) const
	Finds the square distance from this position to the given position. More...

virtual	~ArPose ()
	Destructor.

Static Public Member Functions
static double	distanceBetween (ArPose pose1, ArPose pose2)
	Finds the distance between two poses (static function, uses no data from any instance and shouldn't be able to be called on an instance) More...

Protected Attributes
double	myTh

double	myX

double	myY

Detailed Description

Represents an x, y position with an orientation.

This class represents a robot position with heading. The heading is automatically adjusted to be in the range -180 to 180. It also 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.

Examples:: gotoActionExample.cpp.

Constructor & Destructor Documentation

◆ ArPose()

ArPose::ArPose	(	double	x = `0`,
		double	y = `0`,
		double	th = `0`
	)

inline

Constructor, with optional initial values.

Sets the pose to the given values. The constructor can be called with no parameters, with just x and y, or with x, y, and th. The given heading (th) is automatically adjusted to be in the range -180 to 180.

Parameters

x	the double to set the x position to, default of 0
y	the double to set the y position to, default of 0
th	the double value for the pose's heading (or th), default of 0

Member Function Documentation

◆ distanceBetween()

static double ArPose::distanceBetween	(	ArPose	pose1,
		ArPose	pose2
	)

inlinestatic

Finds the distance between two poses (static function, uses no data from any instance and shouldn't be able to be called on an instance)

Parameters

pose1	the first coords
pose2	the second coords

Returns: the distance between the poses

◆ findAngleTo()

virtual double ArPose::findAngleTo ( ArPose position ) const

inlinevirtual

Finds the angle between this position and the given position.

Parameters

position the position to find the angle to

Returns: the angle to the given position from this instance, in degrees

◆ findDistanceTo()

virtual double ArPose::findDistanceTo ( ArPose position ) const

inlinevirtual

Finds the distance from this position to the given position.

Parameters

position the position to find the distance to

Returns: the distance to the position from this instance

◆ getPose()

void ArPose::getPose	(	double *	x,
		double *	y,
		double *	th = `NULL`
	)		const

inline

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.

Parameters

x	a pointer to a double to set the x position to
y	a pointer to a double to set the y position to
th	a pointer to a double to set the heading to, defaults to NULL

◆ operator+=()

ArPose& ArPose::operator+= ( const ArPose & other )

inline

Adds the given pose to this one.

Java and Python Wrappers: Not available in Java or Python wrapper libraries.

◆ operator-=()

ArPose& ArPose::operator-= ( const ArPose & other )

inline

Subtracts the given pose from this one.

Java and Python Wrappers: Not available in Java or Python wrapper libraries.

◆ setPose() [1/2]

virtual void ArPose::setPose	(	double	x,
		double	y,
		double	th = `0`
	)

inlinevirtual

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.

Parameters

x	the position to set the x position to
y	the position to set the y position to
th	the position to set the th position to, default of 0

◆ setPose() [2/2]

virtual void ArPose::setPose ( ArPose position )

inlinevirtual

Sets the position equal to the given position.

Parameters

position the position value this instance should be set to

◆ squaredFindDistanceTo()

virtual double ArPose::squaredFindDistanceTo ( ArPose position ) const

inlinevirtual

Finds the square distance from this position to the given position.

This is only here for speed, if you aren't doing this thousands of times a second don't use this one use findDistanceTo

Parameters

position the position to find the distance to

Returns: the distance to the position from this instance

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

ariaUtil.h

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ArPose()

Member Function Documentation

◆ distanceBetween()

◆ findAngleTo()

◆ findDistanceTo()

◆ getPose()

◆ operator+=()

◆ operator-=()

◆ setPose() [1/2]

◆ setPose() [2/2]

◆ squaredFindDistanceTo()