georegression.struct.se

Class Se2_F64

java.lang.Object

georegression.struct.se.Se2_F64

All Implemented Interfaces:

InvertibleTransform<Se2_F64>, SpecialEuclidean<Se2_F64>, java.io.Serializable

public class Se2_F64
extends java.lang.Object
implements SpecialEuclidean<Se2_F64>

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
double	c
double	s
Vector2D_F64	T

Constructor Summary

Constructors

Constructor and Description
Se2_F64() Constructor which initializes it to no transform
Se2_F64(double x, double y, double yaw)
Se2_F64(double x, double y, double cosYaw, double sinYaw)
Se2_F64(GeoTuple2D_F64 T, double yaw)

Method Summary

Modifier and Type	Method and Description
Se2_F64	concat(Se2_F64 second, Se2_F64 result) Computes a transform which is the equivalent to applying 'this' then the 'second' transform.
Se2_F64	copy()
Se2_F64	createInstance() Creates a new instance of the same SpecialEuclidean as this class.
double	getCosineYaw()
int	getDimension() Returns the dimension of the space which this transform operates on.
double	getSineYaw()
Vector2D_F64	getTranslation()
double	getX()
double	getY()
double	getYaw()
Se2_F64	invert(Se2_F64 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(double x, double y, double yaw)
void	set(double x, double y, double cosYaw, double sinYaw)
void	set(Se2_F64 target) Assigns 'this' to the value of target.
void	setTranslation(double x, double y)
void	setTranslation(Vector2D_F64 tran)
void	setX(double x)
void	setY(double y)
void	setYaw(double 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_F64 T

c

public double c

s

public double s

Constructor Detail

Se2_F64

public Se2_F64(GeoTuple2D_F64 T,
               double yaw)

Se2_F64

public Se2_F64(double x,
               double y,
               double yaw)

Se2_F64

public Se2_F64(double x,
               double y,
               double cosYaw,
               double sinYaw)

Se2_F64

public Se2_F64()

Constructor which initializes it to no transform

Method Detail

set

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

set

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

set

public void set(Se2_F64 target)

Description copied from interface: InvertibleTransform

Assigns 'this' to the value of target.

Specified by:

set in interface InvertibleTransform<Se2_F64>

Parameters:

target - The new value of 'this'.

getX

public double getX()

setX

public void setX(double x)

getY

public double getY()

setY

public void setY(double y)

getTranslation

public Vector2D_F64 getTranslation()

setTranslation

public void setTranslation(Vector2D_F64 tran)

setTranslation

public void setTranslation(double x,
                           double y)

getYaw

public double getYaw()

setYaw

public void setYaw(double yaw)

getCosineYaw

public double getCosineYaw()

getSineYaw

public double 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_F64>

Returns:

space's dimension

createInstance

public Se2_F64 createInstance()

Description copied from interface: InvertibleTransform

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

Specified by:

createInstance in interface InvertibleTransform<Se2_F64>

Returns:

A new instance.

concat

public Se2_F64 concat(Se2_F64 second,
                      Se2_F64 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_F64>

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_F64 invert(Se2_F64 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_F64>

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_F64>

copy

public Se2_F64 copy()

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

print

public void print()