Pose2D Class Reference

#include <Pose2D.h>

Public Member Functions
	Pose2D (double x, double y, double angleRadians)
Pose2D	minus (Pose2D other)
Pose2D	interpolate (Pose2D other, double fractionThis)

Public Attributes
double	x
double	y
double	angleRadians

Detailed Description

The Pose2D class represents a 2D position and orientation, including x and y coordinates and a heading. It is used to represent the Chassis's position and heading.

Constructor & Destructor Documentation

Pose2D()

Pose2D::Pose2D	(	double	x,
		double	y,
		double	angleRadians
	)

Creates a new Pose2D object from the specified position and orientation

Parameters

x	The x-coordinate of the position in meters
y	The y-coordinate of the position in meters
angleRadians	The CCW-positive angle in radians

Member Function Documentation

interpolate()

Pose2D Pose2D::interpolate	(	Pose2D	other,
		double	fractionThis
	)

Finds a new Pose2D that is a specific fraction of the way between this Pose2D and another. For example, if this Pose2D is x = 1, y = 4, rotation = PI/2, and the other Pose2D is x = 3, y = 3, rotation = PI/6, then interpolating with fractionThis = 1/4 would be x = 2.5, y = 3.25, rotation = PI/4.

Parameters

other	The Pose2D to interpolate from
fractionThis	What fraction (0 to 1) of the way from the other Pose2D to this Pose2D; 1 would just return this Pose2D, and 0 would return the other Pose2D

Returns

The Pose2D that is the specified fraction between this and the other Pose2D

minus()

Pose2D Pose2D::minus

(

Pose2D

other

)

Subtracts another position and orientation from this position and orientation

Parameters

other

The Pose2D to subtract

Returns

A new Pose2D representing the difference between this Pose2D and the other Pose2d

Member Data Documentation

angleRadians

double Pose2D::angleRadians

x

double Pose2D::x

y

double Pose2D::y

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

• core/util/algorithms/Pose2D.h
• core/util/algorithms/Pose2D.cpp