ArPose Class Reference

The class which represents a position. More...

#include <ariaUtil.h>

Inheritance diagram for ArPose:

List of all members.

Public Member Functions
	ArPose (const ArPose &pose)
	Copy Constructor.
	ArPose (double x=0, double y=0, double th=0)
	Constructor, with optional initial values.
virtual double	findAngleTo (ArPose position) const
	Finds the angle between this position and the given position.
virtual double	findDistanceTo (ArPose position) const
	Finds the distance from this position to the given position.
void	getPose (double *x, double *y, double *th=NULL) const
	Gets the whole position in one function call.
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 void	setPose (ArPose position)
	Sets the position equal to the given position.
virtual void	setPose (double x, double y, double th=0)
	Sets the position to the given values.
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.
virtual	~ArPose ()
	Destructor.
Protected Attributes
double	myTh
double	myX
double	myY

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Detailed Description

The class which represents a position.

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.

Definition at line 456 of file ariaUtil.h.

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Constructor & Destructor Documentation

ArPose::ArPose (  double  x = 0, double  y = 0, double  th = 0 )  [inline]

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 Parameters: x  the position to set the x position to, default of 0 y  the position to set the y position to, default of 0 th  the position to set the th position to, default of 0 Definition at line 467 of file ariaUtil.h.

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Member Function Documentation

virtual double ArPose::findAngleTo (  ArPose  position  )  const [inline, virtual]

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 Definition at line 560 of file ariaUtil.h. References getX(), getY(), and ArMath::radToDeg(). Referenced by ArRobot::findAngleTo(), ArRobot::findDeltaHeadingTo(), ArActionTriangleDriveTo::findTriangle(), ArActionTriangleDriveTo::fire(), ArActionIRs::fire(), ArActionGotoStraight::fire(), ArActionGoto::fire(), ArRangeBuffer::getClosestPolarInList(), and ArForbiddenRangeDevice::processReadings().

virtual double ArPose::findDistanceTo (  ArPose  position  )  const [inline, virtual]

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 Definition at line 534 of file ariaUtil.h. References ArMath::distanceBetween(), getX(), and getY(). Referenced by ArAnalogGyro::encoderCorrect(), ArRobot::findDistanceTo(), ArActionTriangleDriveTo::findTriangle(), ArActionTriangleDriveTo::fire(), ArActionGotoStraight::fire(), ArActionGoto::fire(), ArRangeBuffer::getClosestBoxInList(), ArRangeBuffer::getClosestPolarInList(), ArLineSegment::getDistToLine(), ArLineSegment::getPerpDist(), ArRobot::isMoveDone(), ArForbiddenRangeDevice::processReadings(), ArActionGotoStraight::setEncoderGoal(), ArActionGotoStraight::setGoal(), and ArRobot::stateReflector().

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 Definition at line 520 of file ariaUtil.h.

virtual void ArPose::setPose (  ArPose  position  )  [inline, virtual]

Sets the position equal to the given position. Parameters: position  the position value this instance should be set to Definition at line 487 of file ariaUtil.h. References getTh(), getX(), getY(), setTh(), setX(), and setY().

virtual void ArPose::setPose (  double  x, double  y, double  th = 0 )  [inline, virtual]

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 Definition at line 483 of file ariaUtil.h. References setTh(), setX(), and setY(). Referenced by ArRangeBuffer::addReading(), ArRobot::ArRobot(), ArSensorReading::ArSensorReading(), ArRangeDevice::cumulativeReadingBox(), ArRangeDevice::cumulativeReadingPolar(), ArRangeDevice::currentReadingBox(), ArRangeDevice::currentReadingPolar(), ArActionTriangleDriveTo::findTriangle(), ArRangeBuffer::getClosestBoxInList(), ArLineSegment::intersects(), ArSensorReading::newData(), ArRobot::processMotorPacket(), ArForbiddenRangeDevice::processReadings(), ArRangeBuffer::redoReading(), ArSensorReading::resetSensorPosition(), ArRobot::setDeadReconPose(), and ArSick::setSensorPosition().

virtual double ArPose::squaredFindDistanceTo (  ArPose  position  )  const [inline, virtual]

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 Definition at line 549 of file ariaUtil.h. References getX(), getY(), and ArMath::squaredDistanceBetween(). Referenced by ArSick::filterAddAndCleanCumulative(), and ArForbiddenRangeDevice::processReadings().

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

• ariaUtil.h

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