org.metacsp.multi.spatioTemporal.paths

Class Pose

java.lang.Object

org.metacsp.multi.spatioTemporal.paths.Pose

All Implemented Interfaces:

java.io.Serializable

public class Pose
extends java.lang.Object
implements java.io.Serializable

Represents the pose of a robot in 2D.

Author:

Federico Pecora

See Also:

Serialized Form

Constructor Summary

Constructors

Constructor and Description
Pose(double x, double y, double theta) Create a new Pose given the position and orientation.
Pose(double x, double y, double z, double roll, double pitch, double yaw) Create a new Pose given the position and orientations.

Method Summary

Modifier and Type	Method and Description
double	distanceTo(Pose p)
double	getPitch() Get the pitch (y-axis rotation) position of this Pose.
com.vividsolutions.jts.geom.Coordinate	getPosition() Get the position of this Pose.
double	getRoll() Get the roll (x-axis rotation) position of this Pose.
double	getTheta() Get the orientation of this Pose.
double	getX() Get the X position of this Pose.
double	getY() Get the Y position of this Pose.
double	getYaw() Get the yaw (z-axis rotation) position of this Pose.
double	getZ() Get the Z position of this Pose.
Pose	interpolate(Pose p2, double ratio) Computes the Pose between this Pose and a given Pose via bilinear interpolation.
static double	lerp(double a, double b, double ratio)
static double	lerpDegrees(double a, double b, double ratio)
java.lang.String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Pose

public Pose(double x,
            double y,
            double z,
            double roll,
            double pitch,
            double yaw)

Create a new Pose given the position and orientations.

Parameters:

x - X coordinate of the Pose.

y - Y coordinate of the Pose.

z - Z coordinate of the Pose.

roll - Orientation of the Pose around the x-axis.

pitch - Orientation of the Pose around the y-axis.

yaw - Orientation of the Pose around the z-axis.

Pose

public Pose(double x,
            double y,
            double theta)

Create a new Pose given the position and orientation.

Parameters:

x - X coordinate of the Pose.

y - Y coordinate of the Pose.

theta - Orientation of the Pose.

Method Detail

getX

public double getX()

Get the X position of this Pose.

Returns:

The X position of this Pose.

getY

public double getY()

Get the Y position of this Pose.

Returns:

The Y position of this Pose.

getZ

public double getZ()

Get the Z position of this Pose.

Returns:

The Z position of this Pose.

getTheta

public double getTheta()

Get the orientation of this Pose. This is the same as getYaw().

Returns:

The orientation of this Pose.

getRoll

public double getRoll()

Get the roll (x-axis rotation) position of this Pose.

Returns:

The roll (x-axis rotation) position of this Pose.

getPitch

public double getPitch()

Get the pitch (y-axis rotation) position of this Pose.

Returns:

The pitch (y-axis rotation) position of this Pose.

getYaw

public double getYaw()

Get the yaw (z-axis rotation) position of this Pose. This is the same as getTheta().

Returns:

The yaw (z-axis rotation) position of this Pose.

getPosition

public com.vividsolutions.jts.geom.Coordinate getPosition()

Get the position of this Pose.

Returns:

The position of this pose.

distanceTo

public double distanceTo(Pose p)

lerp

public static double lerp(double a,
                          double b,
                          double ratio)

lerpDegrees

public static double lerpDegrees(double a,
                                 double b,
                                 double ratio)

interpolate

public Pose interpolate(Pose p2,
                        double ratio)

Computes the Pose between this Pose and a given Pose via bilinear interpolation.

Parameters:

p2 - The second Pose used for interpolation.

ratio - Parameter in [0,1] used for bilinear interpolation.

Returns:

The Pose between this Pose and a given Pose via bilinear interpolation.

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object