
__init__(self,
x,
y,
theta) 



point(self)
Return just the x, y parts represented as a util.Point 



transform(self)
Return a transformation matrix that corresponds to rotating by theta
and then translating by x,y (in the original coordinate frame). 



transformPoint(self,
point)
Applies the pose.transform to point and returns new point. 



transformDelta(self,
point)
Does the rotation by theta of the pose but does not add the x,y
offset. 



transformPose(self,
pose)
Make self into a transformation matrix and apply it to pose. 



isNear(self,
pose,
distEps,
angleEps)
Returns:
True if pose is within distEps and angleEps of self 



diff(self,
pose)
Returns:
a pose that is the difference between self and pose (in x, y, and
theta) 



distance(self,
pose)
Returns:
the distance between the x,y part of self and the x,y part of pose. 



inverse(self)
Return a pose corresponding to the transformation matrix that is the
inverse of the transform associated with this pose. 



xytTuple(self)
Returns:
a representation of this pose as a tuple of x, y, theta values 



