<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
<title>mrpt::poses::CPose2D Class Reference</title>
<link href="doxygen.css" rel="stylesheet" type="text/css">
<link href="tabs.css" rel="stylesheet" type="text/css">
</head><body>
<div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div>
<div align="right">
<a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a>
</div>
<!-- Generated by Doxygen 1.7.5 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<div id="navrow1" class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main Page</span></a></li>
<li><a href="pages.html"><span>Related Pages</span></a></li>
<li><a href="modules.html"><span>Modules</span></a></li>
<li><a href="namespaces.html"><span>Namespaces</span></a></li>
<li class="current"><a href="annotated.html"><span>Classes</span></a></li>
<li><a href="files.html"><span>Files</span></a></li>
<li>
<div id="MSearchBox" class="MSearchBoxInactive">
<div class="left">
<form id="FSearchBox" action="search.php" method="get">
<img id="MSearchSelect" src="search/mag.png" alt=""/>
<input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"/>
</form>
</div><div class="right"></div>
</div>
</li>
</ul>
</div>
<div id="navrow2" class="tabs2">
<ul class="tablist">
<li><a href="annotated.html"><span>Class List</span></a></li>
<li><a href="classes.html"><span>Class Index</span></a></li>
<li><a href="inherits.html"><span>Class Hierarchy</span></a></li>
<li><a href="functions.html"><span>Class Members</span></a></li>
</ul>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
<li class="navelem"><a class="el" href="namespacemrpt_1_1poses.html">poses</a> </li>
<li class="navelem"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> </li>
</ul>
</div>
</div>
<div class="header">
<div class="summary">
<a href="#pub-types">Public Types</a> |
<a href="#pub-methods">Public Member Functions</a> |
<a href="#pub-static-methods">Static Public Member Functions</a> |
<a href="#pub-attribs">Public Attributes</a> |
<a href="#pub-static-attribs">Static Public Attributes</a> |
<a href="#pro-methods">Protected Member Functions</a> |
<a href="#pro-attribs">Protected Attributes</a> </div>
<div class="headertitle">
<div class="title">mrpt::poses::CPose2D Class Reference<div class="ingroups"><a class="el" href="group__poses__grp.html">2D/3D points and poses</a></div></div> </div>
</div>
<div class="contents">
<!-- doxytag: class="mrpt::poses::CPose2D" --><!-- doxytag: inherits="CPose< CPose2D >,mrpt::utils::CSerializable" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A class used to store a 2D pose. </p>
<p>A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle.</p>
<p>For a complete description of Points/Poses, see <a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html" title="The base template class for 2D & 3D points and poses.">mrpt::poses::CPoseOrPoint</a>, or refer to the <a href="http://www.mrpt.org/2D_3D_Geometry">2D/3D Geometry tutorial</a> in the wiki.</p>
<div align="center"> <div class="image">
<img src="CPose2D.gif" alt="CPose2D.gif"/>
</div>
</div><dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose_or_point.html" title="The base template class for 2D & 3D points and poses.">CPoseOrPoint</a>,<a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">CPoint2D</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_pose2_d_8h_source.html">mrpt/poses/CPose2D.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::poses::CPose2D:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1poses_1_1_c_pose2_d__inherit__graph.png" border="0" usemap="#mrpt_1_1poses_1_1_c_pose2_d_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1poses_1_1_c_pose2_d_inherit__map" id="mrpt_1_1poses_1_1_c_pose2_d_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1poses_1_1_c_pose.html" title="mrpt::poses::CPose\< CPose2D \>" alt="" coords="51,264,271,291"/><area shape="rect" id="node4" href="classmrpt_1_1poses_1_1_c_pose.html" title="A base class for representing a pose in 2D or 3D." alt="" coords="92,173,231,200"/><area shape="rect" id="node6" href="classmrpt_1_1poses_1_1_c_pose_or_point.html" title="mrpt::poses::CPoseOrPoint\< DERIVEDCLASS \>" alt="" coords="5,96,317,123"/><area shape="rect" id="node8" href="classmrpt_1_1poses_1_1_c_pose_or_point.html" title="The base template class for 2D & 3D points and poses." alt="" coords="70,5,252,32"/><area shape="rect" id="node10" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT..." alt="" coords="296,264,460,291"/><area shape="rect" id="node12" href="classmrpt_1_1utils_1_1_c_object.html" title="The virtual base class of all MRPT classes with a unified RTTI system." alt="" coords="311,173,445,200"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1poses_1_1_c_pose2_d-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a102a027941b97ed1f17436ac4945cd67a5f755e65a128f1adcb03e436d232ea29">is_3D_val</a> = 0
}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a2ff66d0ba84520a6ca4440a6645a7fe1af949dd7b9890d868db7d5d394ce9bcb1">rotation_dimensions</a> = 2
}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a79c0401b6a5959fbd97d67fee6371ecdac44c7ed7e0180f3d007899b0398eaa1f">is_PDF_val</a> = 0
}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a2c5dd34e95323e03df3ff256546b1a2e">type_value</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used to emulate <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html" title="Declares a class that represents a probability density function (pdf) of a 2D pose (x...">CPosePDF</a> types, for example, in <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses.html" title="A directed graph of pose constraints, with edges being the relative pose between pairs of nodes inden...">mrpt::graphs::CNetworkOfPoses</a>. <a href="#a2c5dd34e95323e03df3ff256546b1a2e"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a3df630f01abe6e65e1600386fc0772f5">CPose2D</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor (all coordinates to 0) <a href="#a3df630f01abe6e65e1600386fc0772f5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#ab6c02303df4731d5464f371b1ca7205b">CPose2D</a> (const double x, const double y, const double phi)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor from an initial value of the pose. <a href="#ab6c02303df4731d5464f371b1ca7205b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#abe15d08e6cbcc58c300659197da08a22">CPose2D</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">CPoint2D</a> &)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor from a <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">CPoint2D</a> object. <a href="#abe15d08e6cbcc58c300659197da08a22"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a68475a04b152cc8826eeb2c6b608b982">CPose2D</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Aproximation!! Avoid its use, since information is lost. <a href="#a68475a04b152cc8826eeb2c6b608b982"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#ac441c9a7d11df9ea3d1e1c3dc7bbea44">CPose2D</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_pose2_d.html">mrpt::math::TPose2D</a> &)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor from lightweight object. <a href="#ac441c9a7d11df9ea3d1e1c3dc7bbea44"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a0168f0119a445670ca6f3453104111cb">CPose2D</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor from <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html" title="A class used to store a 3D point.">CPoint3D</a> with information loss. <a href="#a0168f0119a445670ca6f3453104111cb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a8bf0bb693d53e1792ff4f59c8ff353ed">CPose2D</a> (<a class="el" href="namespacemrpt_1_1poses.html#ac46e1fb95d438a441b6f396d9c79f430">TConstructorFlags_Poses</a> constructor_dummy_param)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument. <a href="#a8bf0bb693d53e1792ff4f59c8ff353ed"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const double & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#ab9a8af6ad8281b613bbc37cb3f0c9bb5">phi</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the phi angle of the 2D pose (in radians) <a href="#ab9a8af6ad8281b613bbc37cb3f0c9bb5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#af1bc2927df1417cadcdeb99b46f786f8">phi</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a172c710f8ba69c0545ec440021bbf6e5">phi</a> (double angle)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the phi angle of the 2D pose (in radians) <a href="#a172c710f8ba69c0545ec440021bbf6e5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a3b13bb9180075ac5ccfdc62fb5060adc">phi_incr</a> (const double Aphi)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Increment the PHI angle (without checking the 2 PI range, call normalizePhi is needed) <a href="#a3b13bb9180075ac5ccfdc62fb5060adc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a2fb82f99d8b6dff4c60ba3a3ee90360d">getAsVector</a> (<a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> &v) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a 1x3 vector with [x y phi]. <a href="#a2fb82f99d8b6dff4c60ba3a3ee90360d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a3bbd649439693e8a0bf8e1706c366af5">getHomogeneousMatrix</a> (<a class="el" href="namespacemrpt_1_1math.html#a25a1ba39a478a66d24a4ecfb9c585c79">CMatrixDouble44</a> &out_HM) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). <a href="#a3bbd649439693e8a0bf8e1706c366af5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a930b1d663a0523f23e2e02f68c04c787">operator+</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &D) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The operator <img class="formulaInl" alt="$ a = this \oplus D $" src="form_52.png"/> is the pose compounding operator. <a href="#a930b1d663a0523f23e2e02f68c04c787"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a2ba3de5ebc968d76ce5c191c4c14d008">composeFrom</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &A, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &B)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Makes <img class="formulaInl" alt="$ this = A \oplus B $" src="form_53.png"/>. <a href="#a2ba3de5ebc968d76ce5c191c4c14d008"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#af97c915a62fe8cf547f3e54db8c76e2f">operator+</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &D) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The operator <img class="formulaInl" alt="$ a = this \oplus D $" src="form_52.png"/> is the pose compounding operator. <a href="#af97c915a62fe8cf547f3e54db8c76e2f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">CPoint2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#accebdce21e12f75e4a7b5b22b493100f">operator+</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">CPoint2D</a> &u) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The operator <img class="formulaInl" alt="$ u' = this \oplus u $" src="form_54.png"/> is the pose/point compounding operator. <a href="#accebdce21e12f75e4a7b5b22b493100f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a70d683f22aab165cb388badfd15fc41e">composePoint</a> (double lx, double ly, double &gx, double &gy) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An alternative, slightly more efficient way of doing <img class="formulaInl" alt="$ G = P \oplus L $" src="form_55.png"/> with G and L being 2D points and P this 2D pose. <a href="#a70d683f22aab165cb388badfd15fc41e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a1754304d4fd62e9adefb7ed6dcff75bd">operator+</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &u) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The operator <img class="formulaInl" alt="$ u' = this \oplus u $" src="form_54.png"/> is the pose/point compounding operator. <a href="#a1754304d4fd62e9adefb7ed6dcff75bd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a256c1a3b7d1731ef58369eeb577c3450">inverseComposeFrom</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &A, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &B)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Makes <img class="formulaInl" alt="$ this = A \ominus B $" src="form_56.png"/> this method is slightly more efficient than "this= A - B;" since it avoids the temporary object. <a href="#a256c1a3b7d1731ef58369eeb577c3450"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a63e44062c1987adc66f4f3fd2eb67a44">operator-</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &b) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute <img class="formulaInl" alt="$ RET = this \oplus b $" src="form_57.png"/>. <a href="#a63e44062c1987adc66f4f3fd2eb67a44"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a822ab3b4e10ed8ed4f397d46a74d40ac">AddComponents</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &p)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Scalar sum of components: This is diferent from poses composition, which is implemented as "+" operators in "CPose" derived classes. <a href="#a822ab3b4e10ed8ed4f397d46a74d40ac"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a66d862da0452e99199a9eef1263b5602">operator*=</a> (const double s)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Scalar multiplication. <a href="#a66d862da0452e99199a9eef1263b5602"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a743ae7ff1f5461b57b4f967d2c07b8ed">operator+=</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &b)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Make <img class="formulaInl" alt="$ this = this \oplus b $" src="form_58.png"/>. <a href="#a743ae7ff1f5461b57b4f967d2c07b8ed"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a56c26b2a368ca3220552b68a6e21bb83">normalizePhi</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Forces "phi" to be in the range [-pi,pi];. <a href="#a56c26b2a368ca3220552b68a6e21bb83"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a923f71e43765c84a643598294ce8c366">asString</a> (<a class="el" href="classstd_1_1string.html">std::string</a> &s) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a human-readable textual representation of the object (eg: "[x y yaw]", yaw in degrees) <a href="#a923f71e43765c84a643598294ce8c366"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a90146aa8bce8595470d09c68f87c720a">asString</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a0d4ba5c65bfd337c90443af16bc76c45">fromString</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &s)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" ) <a href="#a0d4ba5c65bfd337c90443af16bc76c45"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const double & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#aeee0a24ce5cc4fa4280886220bd7c5a3">operator[]</a> (unsigned int i) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#ad3c9665119fb344cd8c433d7bb728185">operator[]</a> (unsigned int i)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a7f1cf7e4760f2d5af6079ea4a6730acf">changeCoordinatesReference</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &p)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">makes: this = p (+) this <a href="#a7f1cf7e4760f2d5af6079ea4a6730acf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a2c5dd34e95323e03df3ff256546b1a2e">type_value</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a8605c5eb583dcd16053e05169be26f5d">getPoseMean</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a2c5dd34e95323e03df3ff256546b1a2e">type_value</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a857c386c0eb2548fb1984ea2c19f3392">getPoseMean</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose.html#ac3f6fe9de1bf9a16b2f27013997e6b68">operator-</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &b) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The operator <img class="formulaInl" alt="$ a \ominus b $" src="form_51.png"/> is the pose inverse compounding operator. <a href="#ac3f6fe9de1bf9a16b2f27013997e6b68"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a534695890364f4b916bba07dad311bcf">duplicateGetSmartPtr</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). <a href="#a534695890364f4b916bba07dad311bcf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a9ef7857a0b36059c078e195a0a65ac00">clone</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cloning interface for smart pointers. <a href="#a9ef7857a0b36059c078e195a0a65ac00"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a8ceb2a13a8b712bf6ec611477abb3d8e">is_3D</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a9a6e22ea85919c7ad5f21579ff0b7f87">is_PDF</a> ()</td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1math_1_1_c_array_double.html">mrpt::math::CArrayDouble</a>< 2 > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a3a524f069f5c053d0556075362306e55">m_coords</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[x,y] <a href="#a3a524f069f5c053d0556075362306e55"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">classCObject</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a0b6b801e67bca3d8e0d355e7035f8013">writeToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, int *getVersion) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a0b6b801e67bca3d8e0d355e7035f8013"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a73ba83035a64939cdc3aa1c0dfed23ec">readFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, int version)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. <a href="#a73ba83035a64939cdc3aa1c0dfed23ec"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a99f7c6bfed7469b61388e7561d4dc4ea">m_phi</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The orientation of the pose, in radians. <a href="#a99f7c6bfed7469b61388e7561d4dc4ea"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1poses_1_1_c_pose2_d_ptr.html">CPose2DPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#aea203edc08de1a1e71dc115dc665fd3a">SmartPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#ad400bed2286c527805c6b2078366e2a3">_init_CPose2D</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a9644769cb1e1971260846928c2fcdd22">classCPose2D</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a960613bffa0a6c527d621407e7b6ca3d">classinfo</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#ae185bddff148eb42796ad81d653dc751">_GetBaseClass</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a6587935fe1b397b0e4e09681546abad0">GetRuntimeClass</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns information about the class of an object in runtime. <a href="#a6587935fe1b397b0e4e09681546abad0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a7bfbc310c6895373d2a861c32a7e9a42">duplicate</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class. <a href="#a7bfbc310c6895373d2a861c32a7e9a42"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#aa9830d5791fad14443b0bc9c956e0434">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1poses_1_1_c_pose2_d_ptr.html">CPose2DPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a51f2511870570a03a7f7910169a8a11b">Create</a> ()</td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
STL-like methods and typedefs</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#ae75a9bbedd87bb6f497f3c40588f7aaea616dbe81384c04593f6ceba6900ed3da">static_size</a> = 3
}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#abd727842b33bdc996193542eac59d2cf">value_type</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The type of the elements. <a href="#abd727842b33bdc996193542eac59d2cf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef double & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#af051b1929e209c4470b375cdf7b03e22">reference</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef const double & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a220e36934cab751a190f49a45a2a795e">const_reference</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef std::size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a725f4e96a30744544f66353acd7f71b3">size_type</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef std::ptrdiff_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a0b1b58c488dfb4f06a0406b1a7e9110e">difference_type</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a725f4e96a30744544f66353acd7f71b3">size_type</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a94866b23ca1356e1f826dc7800f30053">size</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a8a91f9ec0643666245ae8dda4be55fe0">empty</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a725f4e96a30744544f66353acd7f71b3">size_type</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a11c5cc49eea67c0cf1b03e074f33c5d8">max_size</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a5c882c30f76dc451c77d0b6fa50c2fbb">resize</a> (const size_t n)</td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">classCSerializable</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CStream</a></td></tr>
</table>
<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a220e36934cab751a190f49a45a2a795e"></a><!-- doxytag: member="mrpt::poses::CPose2D::const_reference" ref="a220e36934cab751a190f49a45a2a795e" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef const double& <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a220e36934cab751a190f49a45a2a795e">mrpt::poses::CPose2D::const_reference</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00222">222</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="a0b1b58c488dfb4f06a0406b1a7e9110e"></a><!-- doxytag: member="mrpt::poses::CPose2D::difference_type" ref="a0b1b58c488dfb4f06a0406b1a7e9110e" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef std::ptrdiff_t <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a0b1b58c488dfb4f06a0406b1a7e9110e">mrpt::poses::CPose2D::difference_type</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00224">224</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="af051b1929e209c4470b375cdf7b03e22"></a><!-- doxytag: member="mrpt::poses::CPose2D::reference" ref="af051b1929e209c4470b375cdf7b03e22" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef double& <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#af051b1929e209c4470b375cdf7b03e22">mrpt::poses::CPose2D::reference</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00221">221</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="a725f4e96a30744544f66353acd7f71b3"></a><!-- doxytag: member="mrpt::poses::CPose2D::size_type" ref="a725f4e96a30744544f66353acd7f71b3" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef std::size_t <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a725f4e96a30744544f66353acd7f71b3">mrpt::poses::CPose2D::size_type</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00223">223</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="aea203edc08de1a1e71dc115dc665fd3a"></a><!-- doxytag: member="mrpt::poses::CPose2D::SmartPtr" ref="aea203edc08de1a1e71dc115dc665fd3a" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef <a class="el" href="structmrpt_1_1poses_1_1_c_pose2_d_ptr.html">CPose2DPtr</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#aea203edc08de1a1e71dc115dc665fd3a">mrpt::poses::CPose2D::SmartPtr</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>A typedef for the associated smart pointer </p>
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00057">57</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="a2c5dd34e95323e03df3ff256546b1a2e"></a><!-- doxytag: member="mrpt::poses::CPose2D::type_value" ref="a2c5dd34e95323e03df3ff256546b1a2e" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a2c5dd34e95323e03df3ff256546b1a2e">mrpt::poses::CPose2D::type_value</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Used to emulate <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html" title="Declares a class that represents a probability density function (pdf) of a 2D pose (x...">CPosePDF</a> types, for example, in <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses.html" title="A directed graph of pose constraints, with edges being the relative pose between pairs of nodes inden...">mrpt::graphs::CNetworkOfPoses</a>. </p>
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00208">208</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="abd727842b33bdc996193542eac59d2cf"></a><!-- doxytag: member="mrpt::poses::CPose2D::value_type" ref="abd727842b33bdc996193542eac59d2cf" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef double <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#abd727842b33bdc996193542eac59d2cf">mrpt::poses::CPose2D::value_type</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The type of the elements. </p>
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00220">220</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="a102a027941b97ed1f17436ac4945cd67"></a><!-- doxytag: member="mrpt::poses::CPose2D::@19" ref="a102a027941b97ed1f17436ac4945cd67" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">anonymous enum</td>
</tr>
</table>
</div>
<div class="memdoc">
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a102a027941b97ed1f17436ac4945cd67a5f755e65a128f1adcb03e436d232ea29"></a><!-- doxytag: member="is_3D_val" ref="a102a027941b97ed1f17436ac4945cd67a5f755e65a128f1adcb03e436d232ea29" args="" -->is_3D_val</em> </td><td>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00209">209</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="a2ff66d0ba84520a6ca4440a6645a7fe1"></a><!-- doxytag: member="mrpt::poses::CPose2D::@20" ref="a2ff66d0ba84520a6ca4440a6645a7fe1" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">anonymous enum</td>
</tr>
</table>
</div>
<div class="memdoc">
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a2ff66d0ba84520a6ca4440a6645a7fe1af949dd7b9890d868db7d5d394ce9bcb1"></a><!-- doxytag: member="rotation_dimensions" ref="a2ff66d0ba84520a6ca4440a6645a7fe1af949dd7b9890d868db7d5d394ce9bcb1" args="" -->rotation_dimensions</em> </td><td>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00211">211</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="a79c0401b6a5959fbd97d67fee6371ecd"></a><!-- doxytag: member="mrpt::poses::CPose2D::@21" ref="a79c0401b6a5959fbd97d67fee6371ecd" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">anonymous enum</td>
</tr>
</table>
</div>
<div class="memdoc">
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a79c0401b6a5959fbd97d67fee6371ecdac44c7ed7e0180f3d007899b0398eaa1f"></a><!-- doxytag: member="is_PDF_val" ref="a79c0401b6a5959fbd97d67fee6371ecdac44c7ed7e0180f3d007899b0398eaa1f" args="" -->is_PDF_val</em> </td><td>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00212">212</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="ae75a9bbedd87bb6f497f3c40588f7aae"></a><!-- doxytag: member="mrpt::poses::CPose2D::@22" ref="ae75a9bbedd87bb6f497f3c40588f7aae" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">anonymous enum</td>
</tr>
</table>
</div>
<div class="memdoc">
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="ae75a9bbedd87bb6f497f3c40588f7aaea616dbe81384c04593f6ceba6900ed3da"></a><!-- doxytag: member="static_size" ref="ae75a9bbedd87bb6f497f3c40588f7aaea616dbe81384c04593f6ceba6900ed3da" args="" -->static_size</em> </td><td>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00227">227</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a3df630f01abe6e65e1600386fc0772f5"></a><!-- doxytag: member="mrpt::poses::CPose2D::CPose2D" ref="a3df630f01abe6e65e1600386fc0772f5" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">mrpt::poses::CPose2D::CPose2D </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Default constructor (all coordinates to 0) </p>
</div>
</div>
<a class="anchor" id="ab6c02303df4731d5464f371b1ca7205b"></a><!-- doxytag: member="mrpt::poses::CPose2D::CPose2D" ref="ab6c02303df4731d5464f371b1ca7205b" args="(const double x, const double y, const double phi)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">mrpt::poses::CPose2D::CPose2D </td>
<td>(</td>
<td class="paramtype">const double </td>
<td class="paramname"><em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double </td>
<td class="paramname"><em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double </td>
<td class="paramname"><em>phi</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Constructor from an initial value of the pose. </p>
</div>
</div>
<a class="anchor" id="abe15d08e6cbcc58c300659197da08a22"></a><!-- doxytag: member="mrpt::poses::CPose2D::CPose2D" ref="abe15d08e6cbcc58c300659197da08a22" args="(const CPoint2D &)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">mrpt::poses::CPose2D::CPose2D </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">CPoint2D</a> & </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Constructor from a <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">CPoint2D</a> object. </p>
</div>
</div>
<a class="anchor" id="a68475a04b152cc8826eeb2c6b608b982"></a><!-- doxytag: member="mrpt::poses::CPose2D::CPose2D" ref="a68475a04b152cc8826eeb2c6b608b982" args="(const CPose3D &)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">mrpt::poses::CPose2D::CPose2D </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"></td><td>)</td>
<td><code> [explicit]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Aproximation!! Avoid its use, since information is lost. </p>
</div>
</div>
<a class="anchor" id="ac441c9a7d11df9ea3d1e1c3dc7bbea44"></a><!-- doxytag: member="mrpt::poses::CPose2D::CPose2D" ref="ac441c9a7d11df9ea3d1e1c3dc7bbea44" args="(const mrpt::math::TPose2D &)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">mrpt::poses::CPose2D::CPose2D </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_pose2_d.html">mrpt::math::TPose2D</a> & </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Constructor from lightweight object. </p>
</div>
</div>
<a class="anchor" id="a0168f0119a445670ca6f3453104111cb"></a><!-- doxytag: member="mrpt::poses::CPose2D::CPose2D" ref="a0168f0119a445670ca6f3453104111cb" args="(const CPoint3D &)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">mrpt::poses::CPose2D::CPose2D </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"></td><td>)</td>
<td><code> [explicit]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Constructor from <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html" title="A class used to store a 3D point.">CPoint3D</a> with information loss. </p>
</div>
</div>
<a class="anchor" id="a8bf0bb693d53e1792ff4f59c8ff353ed"></a><!-- doxytag: member="mrpt::poses::CPose2D::CPose2D" ref="a8bf0bb693d53e1792ff4f59c8ff353ed" args="(TConstructorFlags_Poses constructor_dummy_param)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">mrpt::poses::CPose2D::CPose2D </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1poses.html#ac46e1fb95d438a441b6f396d9c79f430">TConstructorFlags_Poses</a> </td>
<td class="paramname"><em>constructor_dummy_param</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Fast constructor that leaves all the data uninitialized - call with UNINITIALIZED_POSE as argument. </p>
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00085">85</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ae185bddff148eb42796ad81d653dc751"></a><!-- doxytag: member="mrpt::poses::CPose2D::_GetBaseClass" ref="ae185bddff148eb42796ad81d653dc751" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::poses::CPose2D::_GetBaseClass </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static, protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a471a2d4e8bf14cdc749d43ffb8066a12">mrpt::utils::CSerializable</a>.</p>
</div>
</div>
<a class="anchor" id="a822ab3b4e10ed8ed4f397d46a74d40ac"></a><!-- doxytag: member="mrpt::poses::CPose2D::AddComponents" ref="a822ab3b4e10ed8ed4f397d46a74d40ac" args="(CPose2D &p)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPose2D::AddComponents </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>p</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Scalar sum of components: This is diferent from poses composition, which is implemented as "+" operators in "CPose" derived classes. </p>
</div>
</div>
<a class="anchor" id="a923f71e43765c84a643598294ce8c366"></a><!-- doxytag: member="mrpt::poses::CPose2D::asString" ref="a923f71e43765c84a643598294ce8c366" args="(std::string &s) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPose2D::asString </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>s</em></td><td>)</td>
<td> const<code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns a human-readable textual representation of the object (eg: "[x y yaw]", yaw in degrees) </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a0d4ba5c65bfd337c90443af16bc76c45" title="Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0...">fromString</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00166">166</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
<p>References <a class="el" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8">mrpt::format()</a>, <a class="el" href="_core_source.html#l00604">Eigen::internal::y</a>, and <a class="el" href="bits_8h_source.html#l00092">mrpt::utils::RAD2DEG()</a>.</p>
</div>
</div>
<a class="anchor" id="a90146aa8bce8595470d09c68f87c720a"></a><!-- doxytag: member="mrpt::poses::CPose2D::asString" ref="a90146aa8bce8595470d09c68f87c720a" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> mrpt::poses::CPose2D::asString </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00167">167</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
<p>References <a class="el" href="_c_pose2_d_8h_source.html#l00167">asString()</a>.</p>
<p>Referenced by <a class="el" href="_c_pose2_d_8h_source.html#l00167">asString()</a>.</p>
</div>
</div>
<a class="anchor" id="a7f1cf7e4760f2d5af6079ea4a6730acf"></a><!-- doxytag: member="mrpt::poses::CPose2D::changeCoordinatesReference" ref="a7f1cf7e4760f2d5af6079ea4a6730acf" args="(const CPose2D &p)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPose2D::changeCoordinatesReference </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>p</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>makes: this = p (+) this </p>
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00206">206</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::poses::CPose2D::clone" ref="a9ef7857a0b36059c078e195a0a65ac00" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a>* mrpt::utils::CObject::clone </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Cloning interface for smart pointers. </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#acb2597d6d93b406501d9f3530eb56adf">mrpt::opengl::CRenderizable</a>, and <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#ac164cb1d2cf682778ce52967cbd56469">mrpt::opengl::CRenderizableDisplayList</a>.</p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00154">154</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
</div>
</div>
<a class="anchor" id="a2ba3de5ebc968d76ce5c191c4c14d008"></a><!-- doxytag: member="mrpt::poses::CPose2D::composeFrom" ref="a2ba3de5ebc968d76ce5c191c4c14d008" args="(const CPose2D &A, const CPose2D &B)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPose2D::composeFrom </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>A</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>B</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Makes <img class="formulaInl" alt="$ this = A \oplus B $" src="form_53.png"/>. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>A or B can be "this" without problems. </dd></dl>
</div>
</div>
<a class="anchor" id="a70d683f22aab165cb388badfd15fc41e"></a><!-- doxytag: member="mrpt::poses::CPose2D::composePoint" ref="a70d683f22aab165cb388badfd15fc41e" args="(double lx, double ly, double &gx, double &gy) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPose2D::composePoint </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>lx</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>ly</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>gx</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double & </td>
<td class="paramname"><em>gy</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>An alternative, slightly more efficient way of doing <img class="formulaInl" alt="$ G = P \oplus L $" src="form_55.png"/> with G and L being 2D points and P this 2D pose. </p>
</div>
</div>
<a class="anchor" id="a51f2511870570a03a7f7910169a8a11b"></a><!-- doxytag: member="mrpt::poses::CPose2D::Create" ref="a51f2511870570a03a7f7910169a8a11b" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static <a class="el" href="structmrpt_1_1poses_1_1_c_pose2_d_ptr.html">CPose2DPtr</a> mrpt::poses::CPose2D::Create </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="aa9830d5791fad14443b0bc9c956e0434"></a><!-- doxytag: member="mrpt::poses::CPose2D::CreateObject" ref="aa9830d5791fad14443b0bc9c956e0434" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::poses::CPose2D::CreateObject </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a7bfbc310c6895373d2a861c32a7e9a42"></a><!-- doxytag: member="mrpt::poses::CPose2D::duplicate" ref="a7bfbc310c6895373d2a861c32a7e9a42" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::poses::CPose2D::duplicate </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns a copy of the object, indepently of its class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#aa1070e173c5f7e307b09c53f1fd256e2">mrpt::utils::CObject</a>.</p>
</div>
</div>
<a class="anchor" id="a534695890364f4b916bba07dad311bcf"></a><!-- doxytag: member="mrpt::poses::CPose2D::duplicateGetSmartPtr" ref="a534695890364f4b916bba07dad311bcf" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> mrpt::utils::CObject::duplicateGetSmartPtr </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). </p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00151">151</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
</div>
</div>
<a class="anchor" id="a8a91f9ec0643666245ae8dda4be55fe0"></a><!-- doxytag: member="mrpt::poses::CPose2D::empty" ref="a8a91f9ec0643666245ae8dda4be55fe0" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static bool mrpt::poses::CPose2D::empty </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00229">229</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="a0d4ba5c65bfd337c90443af16bc76c45"></a><!-- doxytag: member="mrpt::poses::CPose2D::fromString" ref="a0d4ba5c65bfd337c90443af16bc76c45" args="(const std::string &s)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPose2D::fromString </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>s</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Set the current object value from a string generated by 'asString' (eg: "[0.02 1.04 -0.8]" ) </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a923f71e43765c84a643598294ce8c366" title="Returns a human-readable textual representation of the object (eg: "[x y yaw]", yaw in degrees)...">asString</a> </dd></dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On invalid format </td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00173">173</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>, <a class="el" href="mrpt__macros_8h_source.html#l00281">ASSERTMSG_</a>, <a class="el" href="bits_8h_source.html#l00065">mrpt::math::size()</a>, <a class="el" href="_core_source.html#l00604">Eigen::internal::y</a>, and <a class="el" href="bits_8h_source.html#l00086">mrpt::utils::DEG2RAD()</a>.</p>
</div>
</div>
<a class="anchor" id="a2fb82f99d8b6dff4c60ba3a3ee90360d"></a><!-- doxytag: member="mrpt::poses::CPose2D::getAsVector" ref="a2fb82f99d8b6dff4c60ba3a3ee90360d" args="(vector_double &v) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPose2D::getAsVector </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> & </td>
<td class="paramname"><em>v</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns a 1x3 vector with [x y phi]. </p>
</div>
</div>
<a class="anchor" id="a3bbd649439693e8a0bf8e1706c366af5"></a><!-- doxytag: member="mrpt::poses::CPose2D::getHomogeneousMatrix" ref="a3bbd649439693e8a0bf8e1706c366af5" args="(CMatrixDouble44 &out_HM) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPose2D::getHomogeneousMatrix </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a25a1ba39a478a66d24a4ecfb9c585c79">CMatrixDouble44</a> & </td>
<td class="paramname"><em>out_HM</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns the corresponding 4x4 homogeneous transformation matrix for the point(translation) or pose (translation+orientation). </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getInverseHomogeneousMatrix </dd></dl>
</div>
</div>
<a class="anchor" id="a8605c5eb583dcd16053e05169be26f5d"></a><!-- doxytag: member="mrpt::poses::CPose2D::getPoseMean" ref="a8605c5eb583dcd16053e05169be26f5d" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a2c5dd34e95323e03df3ff256546b1a2e">type_value</a>& mrpt::poses::CPose2D::getPoseMean </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00215">215</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="a857c386c0eb2548fb1984ea2c19f3392"></a><!-- doxytag: member="mrpt::poses::CPose2D::getPoseMean" ref="a857c386c0eb2548fb1984ea2c19f3392" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a2c5dd34e95323e03df3ff256546b1a2e">type_value</a>& mrpt::poses::CPose2D::getPoseMean </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00216">216</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="a6587935fe1b397b0e4e09681546abad0"></a><!-- doxytag: member="mrpt::poses::CPose2D::GetRuntimeClass" ref="a6587935fe1b397b0e4e09681546abad0" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::poses::CPose2D::GetRuntimeClass </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns information about the class of an object in runtime. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6861b16159daafd1651d6e0d27f39c58">mrpt::utils::CSerializable</a>.</p>
</div>
</div>
<a class="anchor" id="a256c1a3b7d1731ef58369eeb577c3450"></a><!-- doxytag: member="mrpt::poses::CPose2D::inverseComposeFrom" ref="a256c1a3b7d1731ef58369eeb577c3450" args="(const CPose2D &A, const CPose2D &B)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPose2D::inverseComposeFrom </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>A</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>B</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Makes <img class="formulaInl" alt="$ this = A \ominus B $" src="form_56.png"/> this method is slightly more efficient than "this= A - B;" since it avoids the temporary object. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>A or B can be "this" without problems. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a2ba3de5ebc968d76ce5c191c4c14d008" title="Makes .">composeFrom</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a70d683f22aab165cb388badfd15fc41e" title="An alternative, slightly more efficient way of doing with G and L being 2D points and P this 2D pose...">composePoint</a> </dd></dl>
<p>Referenced by <a class="el" href="_c_pose2_d_8h_source.html#l00136">operator-()</a>.</p>
</div>
</div>
<a class="anchor" id="a8ceb2a13a8b712bf6ec611477abb3d8e"></a><!-- doxytag: member="mrpt::poses::CPose2D::is_3D" ref="a8ceb2a13a8b712bf6ec611477abb3d8e" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static bool mrpt::poses::CPose2D::is_3D </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00210">210</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="a9a6e22ea85919c7ad5f21579ff0b7f87"></a><!-- doxytag: member="mrpt::poses::CPose2D::is_PDF" ref="a9a6e22ea85919c7ad5f21579ff0b7f87" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static bool mrpt::poses::CPose2D::is_PDF </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00213">213</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="a11c5cc49eea67c0cf1b03e074f33c5d8"></a><!-- doxytag: member="mrpt::poses::CPose2D::max_size" ref="a11c5cc49eea67c0cf1b03e074f33c5d8" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a725f4e96a30744544f66353acd7f71b3">size_type</a> mrpt::poses::CPose2D::max_size </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00230">230</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
<p>References <a class="el" href="eigen__plugins_8h_source.html#l00037">static_size</a>.</p>
</div>
</div>
<a class="anchor" id="a56c26b2a368ca3220552b68a6e21bb83"></a><!-- doxytag: member="mrpt::poses::CPose2D::normalizePhi" ref="a56c26b2a368ca3220552b68a6e21bb83" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPose2D::normalizePhi </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Forces "phi" to be in the range [-pi,pi];. </p>
</div>
</div>
<a class="anchor" id="a66d862da0452e99199a9eef1263b5602"></a><!-- doxytag: member="mrpt::poses::CPose2D::operator*=" ref="a66d862da0452e99199a9eef1263b5602" args="(const double s)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPose2D::operator*= </td>
<td>(</td>
<td class="paramtype">const double </td>
<td class="paramname"><em>s</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Scalar multiplication. </p>
</div>
</div>
<a class="anchor" id="a930b1d663a0523f23e2e02f68c04c787"></a><!-- doxytag: member="mrpt::poses::CPose2D::operator+" ref="a930b1d663a0523f23e2e02f68c04c787" args="(const CPose2D &D) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> mrpt::poses::CPose2D::operator+ </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>D</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The operator <img class="formulaInl" alt="$ a = this \oplus D $" src="form_52.png"/> is the pose compounding operator. </p>
</div>
</div>
<a class="anchor" id="af97c915a62fe8cf547f3e54db8c76e2f"></a><!-- doxytag: member="mrpt::poses::CPose2D::operator+" ref="af97c915a62fe8cf547f3e54db8c76e2f" args="(const CPose3D &D) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> mrpt::poses::CPose2D::operator+ </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>D</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The operator <img class="formulaInl" alt="$ a = this \oplus D $" src="form_52.png"/> is the pose compounding operator. </p>
</div>
</div>
<a class="anchor" id="accebdce21e12f75e4a7b5b22b493100f"></a><!-- doxytag: member="mrpt::poses::CPose2D::operator+" ref="accebdce21e12f75e4a7b5b22b493100f" args="(const CPoint2D &u) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">CPoint2D</a> mrpt::poses::CPose2D::operator+ </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">CPoint2D</a> & </td>
<td class="paramname"><em>u</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The operator <img class="formulaInl" alt="$ u' = this \oplus u $" src="form_54.png"/> is the pose/point compounding operator. </p>
</div>
</div>
<a class="anchor" id="a1754304d4fd62e9adefb7ed6dcff75bd"></a><!-- doxytag: member="mrpt::poses::CPose2D::operator+" ref="a1754304d4fd62e9adefb7ed6dcff75bd" args="(const CPoint3D &u) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> mrpt::poses::CPose2D::operator+ </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>u</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The operator <img class="formulaInl" alt="$ u' = this \oplus u $" src="form_54.png"/> is the pose/point compounding operator. </p>
</div>
</div>
<a class="anchor" id="a743ae7ff1f5461b57b4f967d2c07b8ed"></a><!-- doxytag: member="mrpt::poses::CPose2D::operator+=" ref="a743ae7ff1f5461b57b4f967d2c07b8ed" args="(const CPose2D &b)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a>& mrpt::poses::CPose2D::operator+= </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>b</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Make <img class="formulaInl" alt="$ this = this \oplus b $" src="form_58.png"/>. </p>
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00153">153</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="ac3f6fe9de1bf9a16b2f27013997e6b68"></a><!-- doxytag: member="mrpt::poses::CPose2D::operator-" ref="ac3f6fe9de1bf9a16b2f27013997e6b68" args="(const CPose3D &b) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> mrpt::poses::CPose::operator- </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>b</em></td><td>)</td>
<td> const<code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The operator <img class="formulaInl" alt="$ a \ominus b $" src="form_51.png"/> is the pose inverse compounding operator. </p>
</div>
</div>
<a class="anchor" id="a63e44062c1987adc66f4f3fd2eb67a44"></a><!-- doxytag: member="mrpt::poses::CPose2D::operator-" ref="a63e44062c1987adc66f4f3fd2eb67a44" args="(const CPose2D &b) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> mrpt::poses::CPose2D::operator- </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>b</em></td><td>)</td>
<td> const<code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Compute <img class="formulaInl" alt="$ RET = this \oplus b $" src="form_57.png"/>. </p>
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00136">136</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
<p>References <a class="el" href="_c_pose_or_point_8h_source.html#l00057">mrpt::poses::UNINITIALIZED_POSE</a>, and <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a256c1a3b7d1731ef58369eeb577c3450">inverseComposeFrom()</a>.</p>
</div>
</div>
<a class="anchor" id="aeee0a24ce5cc4fa4280886220bd7c5a3"></a><!-- doxytag: member="mrpt::poses::CPose2D::operator[]" ref="aeee0a24ce5cc4fa4280886220bd7c5a3" args="(unsigned int i) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">const double& mrpt::poses::CPose2D::operator[] </td>
<td>(</td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>i</em></td><td>)</td>
<td> const<code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00182">182</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="ad3c9665119fb344cd8c433d7bb728185"></a><!-- doxytag: member="mrpt::poses::CPose2D::operator[]" ref="ad3c9665119fb344cd8c433d7bb728185" args="(unsigned int i)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double& mrpt::poses::CPose2D::operator[] </td>
<td>(</td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>i</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00193">193</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="ab9a8af6ad8281b613bbc37cb3f0c9bb5"></a><!-- doxytag: member="mrpt::poses::CPose2D::phi" ref="ab9a8af6ad8281b613bbc37cb3f0c9bb5" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">const double& mrpt::poses::CPose2D::phi </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Get the phi angle of the 2D pose (in radians) </p>
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00088">88</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
<p>Referenced by <a class="el" href="_c_network_of_poses__impl_8h_source.html#l00067">mrpt::graphs::detail::graph_ops::write_VERTEX_line()</a>, <a class="el" href="_c_network_of_poses__impl_8h_source.html#l00080">mrpt::graphs::detail::graph_ops::write_EDGE_line()</a>, <a class="el" href="_c_network_of_poses__impl_8h_source.html#l00537">mrpt::graphs::detail::graph_ops::auxEuclid2Dist()</a>, <a class="el" href="_c_robot2_d_pose_estimator_8h_source.html#l00106">mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose()</a>, <a class="el" href="_s_e__traits_8h_source.html#l00087">mrpt::poses::SE_traits< 2 >::exp()</a>, and <a class="el" href="_s_e__traits_8h_source.html#l00090">mrpt::poses::SE_traits< 2 >::ln()</a>.</p>
</div>
</div>
<a class="anchor" id="af1bc2927df1417cadcdeb99b46f786f8"></a><!-- doxytag: member="mrpt::poses::CPose2D::phi" ref="af1bc2927df1417cadcdeb99b46f786f8" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double& mrpt::poses::CPose2D::phi </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p>
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00090">90</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="a172c710f8ba69c0545ec440021bbf6e5"></a><!-- doxytag: member="mrpt::poses::CPose2D::phi" ref="a172c710f8ba69c0545ec440021bbf6e5" args="(double angle)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPose2D::phi </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>angle</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Set the phi angle of the 2D pose (in radians) </p>
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00093">93</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="a3b13bb9180075ac5ccfdc62fb5060adc"></a><!-- doxytag: member="mrpt::poses::CPose2D::phi_incr" ref="a3b13bb9180075ac5ccfdc62fb5060adc" args="(const double Aphi)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPose2D::phi_incr </td>
<td>(</td>
<td class="paramtype">const double </td>
<td class="paramname"><em>Aphi</em></td><td>)</td>
<td><code> [inline]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Increment the PHI angle (without checking the 2 PI range, call normalizePhi is needed) </p>
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00095">95</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::poses::CPose2D::readFromStream" ref="a73ba83035a64939cdc3aa1c0dfed23ec" args="(mrpt::utils::CStream &in, int version)=0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void mrpt::utils::CSerializable::readFromStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>in</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>version</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected, pure virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a0194e57ec48c1dfc6aa00c23d3409143">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a12db95e8c32d48d2d2483936dec516a7">mrpt::math::CMatrix</a>.</p>
</div>
</div>
<a class="anchor" id="a5c882c30f76dc451c77d0b6fa50c2fbb"></a><!-- doxytag: member="mrpt::poses::CPose2D::resize" ref="a5c882c30f76dc451c77d0b6fa50c2fbb" args="(const size_t n)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static void mrpt::poses::CPose2D::resize </td>
<td>(</td>
<td class="paramtype">const size_t </td>
<td class="paramname"><em>n</em></td><td>)</td>
<td><code> [inline, static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00231">231</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
<p>References <a class="el" href="eigen__plugins_8h_source.html#l00037">static_size</a>, and <a class="el" href="namespacemrpt.html#a3a27af794b658df5491e2b7678f8ccb8">mrpt::format()</a>.</p>
</div>
</div>
<a class="anchor" id="a94866b23ca1356e1f826dc7800f30053"></a><!-- doxytag: member="mrpt::poses::CPose2D::size" ref="a94866b23ca1356e1f826dc7800f30053" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a725f4e96a30744544f66353acd7f71b3">size_type</a> mrpt::poses::CPose2D::size </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00228">228</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
<p>References <a class="el" href="eigen__plugins_8h_source.html#l00037">static_size</a>.</p>
</div>
</div>
<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::poses::CPose2D::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void mrpt::utils::CSerializable::writeToStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int * </td>
<td class="paramname"><em>getVersion</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [protected, pure virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
<p>This can not be used directly be users, instead use "stream << object;" for writing it to a stream. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out</td><td>The output binary stream where object must be dumped. </td></tr>
<tr><td class="paramname">getVersion</td><td>If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">CStream::WriteBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a767e787b52208ab4dd46ba7f5e2fd224">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a059d7eaf80dab9c7435154146d2b7dbf">mrpt::math::CMatrix</a>.</p>
</div>
</div>
<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a6fec28a53e20dfc1c4d046c26f9f7b48"></a><!-- doxytag: member="mrpt::poses::CPose2D::mrpt::utils::CStream" ref="a6fec28a53e20dfc1c4d046c26f9f7b48" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">friend class <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a><code> [friend, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CRandomFieldGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CObservation</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CMetricMap</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CRenderizable</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPose3DQuatPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPointPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPose3DPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPosePDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPoint2DPDF</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CRenderizableDisplayList</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_action.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CAction</a>, <a class="el" href="classmrpt_1_1detectors_1_1_c_detectable_object.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::detectors::CDetectableObject</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_textured_object.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CTexturedObject</a>, and <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::reactivenav::CHolonomicLogFileRecord</a>.</p>
<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
</div>
</div>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="ad400bed2286c527805c6b2078366e2a3"></a><!-- doxytag: member="mrpt::poses::CPose2D::_init_CPose2D" ref="ad400bed2286c527805c6b2078366e2a3" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#ad400bed2286c527805c6b2078366e2a3">mrpt::poses::CPose2D::_init_CPose2D</a><code> [static, protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00057">57</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::poses::CPose2D::classCObject" ref="acb51e4dd811d62c2696aee449d0a4715" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">mrpt::utils::CObject::classCObject</a><code> [static, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00139">139</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
</div>
</div>
<a class="anchor" id="a9644769cb1e1971260846928c2fcdd22"></a><!-- doxytag: member="mrpt::poses::CPose2D::classCPose2D" ref="a9644769cb1e1971260846928c2fcdd22" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a9644769cb1e1971260846928c2fcdd22">mrpt::poses::CPose2D::classCPose2D</a><code> [static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00057">57</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::poses::CPose2D::classCSerializable" ref="a28ec2a03d277a8469b8ecfc81892afdf" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">mrpt::utils::CSerializable::classCSerializable</a><code> [static, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
</div>
</div>
<a class="anchor" id="a960613bffa0a6c527d621407e7b6ca3d"></a><!-- doxytag: member="mrpt::poses::CPose2D::classinfo" ref="a960613bffa0a6c527d621407e7b6ca3d" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a960613bffa0a6c527d621407e7b6ca3d">mrpt::poses::CPose2D::classinfo</a><code> [static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00057">57</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="a3a524f069f5c053d0556075362306e55"></a><!-- doxytag: member="mrpt::poses::CPose2D::m_coords" ref="a3a524f069f5c053d0556075362306e55" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1math_1_1_c_array_double.html">mrpt::math::CArrayDouble</a><2> <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a3a524f069f5c053d0556075362306e55">mrpt::poses::CPose2D::m_coords</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>[x,y] </p>
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00060">60</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
<a class="anchor" id="a99f7c6bfed7469b61388e7561d4dc4ea"></a><!-- doxytag: member="mrpt::poses::CPose2D::m_phi" ref="a99f7c6bfed7469b61388e7561d4dc4ea" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a99f7c6bfed7469b61388e7561d4dc4ea">mrpt::poses::CPose2D::m_phi</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The orientation of the pose, in radians. </p>
<p>Definition at line <a class="el" href="_c_pose2_d_8h_source.html#l00063">63</a> of file <a class="el" href="_c_pose2_d_8h_source.html">CPose2D.h</a>.</p>
</div>
</div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
