Module util :: Class Pose
[frames] | no frames]

Class Pose

Represent the x, y, theta pose of an object in 2D space

Instance Methods
 
__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
 
__repr__(self)
Instance Variables
  x = 0.0
x coordinate
  y = 0.0
y coordinate
  theta = 0.0
rotation in radians
Method Details

transformPoint(self, point)

 

Applies the pose.transform to point and returns new point.

Parameters:
  • point - an instance of util.Point

transformDelta(self, point)

 

Does the rotation by theta of the pose but does not add the x,y offset. This is useful in transforming the difference(delta) between two points.

Parameters:
  • point - an instance of util.Point
Returns:
a util.Point.

transformPose(self, pose)

 

Make self into a transformation matrix and apply it to pose.

Returns:
Af new util.pose.

isNear(self, pose, distEps, angleEps)

 
Returns:
True if pose is within distEps and angleEps of self

diff(self, pose)

 
Parameters:
  • pose - an instance of util.Pose
Returns:
a pose that is the difference between self and pose (in x, y, and theta)

distance(self, pose)

 
Parameters:
  • pose - an instance of util.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. If this pose's transformation maps points from frame X to frame Y, the inverse maps points from frame Y to frame X.

xytTuple(self)

 
Returns:
a representation of this pose as a tuple of x, y, theta values