georegression.struct.se

Class Se2_F32

java.lang.Object

georegression.struct.se.Se2_F32

All Implemented Interfaces:

InvertibleTransform<Se2_F32>, SpecialEuclidean<Se2_F32>, java.io.Serializable

public class Se2_F32
extends java.lang.Object
implements SpecialEuclidean<Se2_F32>

Special Euclidean transform that has been parameterized with three parameters: translation (x,y) and rotation (yaw). First the rotation is applied then the translation.

Note that this data structure does not specify the units or coordinate frames.

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
float	c
float	s
Vector2D_F32	T

Constructor Summary

Constructors

Constructor and Description
Se2_F32() Constructor which initializes it to no transform
Se2_F32(float x, float y, float yaw)
Se2_F32(float x, float y, float cosYaw, float sinYaw)
Se2_F32(GeoTuple2D_F32 T, float yaw)

Method Summary

Modifier and Type	Method and Description
Se2_F32	concat(Se2_F32 second, Se2_F32 result) Computes a transform which is the equivalent to applying 'this' then the 'second' transform.
Se2_F32	copy()
Se2_F32	createInstance() Creates a new instance of the same SpecialEuclidean as this class.
float	getCosineYaw()
int	getDimension() Returns the dimension of the space which this transform operates on.
float	getSineYaw()
Vector2D_F32	getTranslation()
float	getX()
float	getY()
float	getYaw()
Se2_F32	invert(Se2_F32 inverse) Computes a transform which is the inverse of this transform.
void	print()
void	reset() Sets the transform to its initial state of no transform.
void	set(float x, float y, float yaw)
void	set(float x, float y, float cosYaw, float sinYaw)
void	set(Se2_F32 target) Assigns 'this' to the value of target.
void	setTranslation(float x, float y)
void	setTranslation(Vector2D_F32 tran)
void	setX(float x)
void	setY(float y)
void	setYaw(float yaw)
java.lang.String	toString()

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

T

public Vector2D_F32 T

c

public float c

s

public float s

Constructor Detail

Se2_F32

public Se2_F32(GeoTuple2D_F32 T,
               float yaw)

Se2_F32

public Se2_F32(float x,
               float y,
               float yaw)

Se2_F32

public Se2_F32(float x,
               float y,
               float cosYaw,
               float sinYaw)

Se2_F32

public Se2_F32()

Constructor which initializes it to no transform

Method Detail

set

public void set(float x,
                float y,
                float yaw)

set

public void set(float x,
                float y,
                float cosYaw,
                float sinYaw)

set

public void set(Se2_F32 target)

Description copied from interface: InvertibleTransform

Assigns 'this' to the value of target.

Specified by:

set in interface InvertibleTransform<Se2_F32>

Parameters:

target - The new value of 'this'.

getX

public float getX()

setX

public void setX(float x)

getY

public float getY()

setY

public void setY(float y)

getTranslation

public Vector2D_F32 getTranslation()

setTranslation

public void setTranslation(Vector2D_F32 tran)

setTranslation

public void setTranslation(float x,
                           float y)

getYaw

public float getYaw()

setYaw

public void setYaw(float yaw)

getCosineYaw

public float getCosineYaw()

getSineYaw

public float getSineYaw()

getDimension

public int getDimension()

Description copied from interface: InvertibleTransform

Returns the dimension of the space which this transform operates on.

Specified by:

getDimension in interface InvertibleTransform<Se2_F32>

Returns:

space's dimension

createInstance

public Se2_F32 createInstance()

Description copied from interface: InvertibleTransform

Creates a new instance of the same SpecialEuclidean as this class.

Specified by:

createInstance in interface InvertibleTransform<Se2_F32>

Returns:

A new instance.

concat

public Se2_F32 concat(Se2_F32 second,
                      Se2_F32 result)

Description copied from interface: InvertibleTransform

Computes a transform which is the equivalent to applying 'this' then the 'second' transform.

For example:

Point A = tran2( tran1( A ) );
Point A = tran12( A );

where tran12 = tran1.concat( tran2 , null );

NOTE: 'second', 'result', and 'this' must all be unique instances.

Specified by:

concat in interface InvertibleTransform<Se2_F32>

Parameters:

second - The second transform which is applied. Not modified.

result - A transform which is equivalent to applying the first then the second. If null then a new instance is declared. Modified.

Returns:

The equivalent transform.

invert

public Se2_F32 invert(Se2_F32 inverse)

Description copied from interface: InvertibleTransform

Computes a transform which is the inverse of this transform. The 'this' matrix can be passed in as an input.

Example:
Point A = tran(B);
Point B = inv(A);

where inv = invert( tran );

Specified by:

invert in interface InvertibleTransform<Se2_F32>

Parameters:

inverse - Where the inverse will be stored. If null a new instance is created. Modified.

Returns:

The inverse transform.

reset

public void reset()

Description copied from interface: InvertibleTransform

Sets the transform to its initial state of no transform.

Specified by:

reset in interface InvertibleTransform<Se2_F32>

copy

public Se2_F32 copy()

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

print

public void print()