Pioneer Robotics Documentation/pioneer.helpers/Pose

Pose

data class Pose(val x: Double = 0.0, val y: Double = 0.0, val vx: Double = 0.0, val vy: Double = 0.0, val ax: Double = 0.0, val ay: Double = 0.0, val theta: Double = 0.0, val omega: Double = 0.0, val alpha: Double = 0.0)

Minimal 2D pose with motion derivatives. All units are in centimeters and radians.

Constructors

constructor(x: Double = 0.0, y: Double = 0.0, vx: Double = 0.0, vy: Double = 0.0, ax: Double = 0.0, ay: Double = 0.0, theta: Double = 0.0, omega: Double = 0.0, alpha: Double = 0.0)

Properties

val alpha: Double

val omega: Double

val theta: Double

Functions

infix fun angleTo(other: Pose): Double

fun derivative(): Pose

infix fun distanceTo(other: Pose): Double

operator fun div(s: Double): Pose

fun getLength(): Double

fun integrate(dt: Double): Pose

operator fun minus(o: Pose): Pose

fun normalize(): Pose

operator fun plus(o: Pose): Pose

fun rotate(angle: Double, origin: Pose = Pose()): Pose

fun roughlyEquals(other: Pose, positionTolerance: Double = 0.01, angleTolerance: Double = 0.001): Boolean

operator fun times(s: Double): Pose

fun toDesmosString(): String

open override fun toString(): String

operator fun unaryMinus(): Pose