Class Se2_F32

All Implemented Interfaces:
InvertibleTransform<Se2_F32>, SpecialEuclidean<Se2_F32>, Serializable

public class Se2_F32
extends 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 Details

    • T

      public Vector2D_F32 T
    • c

      public float c
    • s

      public float s
  • Constructor Details

    • 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 Details

    • setTo

      public void setTo​(float x, float y, float yaw)
    • setTo

      public void setTo​(float x, float y, float cosYaw, float sinYaw)
    • setTo

      public void setTo​(Se2_F32 target)
      Description copied from interface: InvertibleTransform
      Assigns 'this' to the value of target.
      Specified by:
      setTo in interface InvertibleTransform<Se2_F32>
      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>
      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>
      A new instance.
    • concat

      public Se2_F32 concat​(Se2_F32 second, @Nullable @Nullable 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>
      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.
      The equivalent transform.
    • invert

      public Se2_F32 invert​(@Nullable @Nullable 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.

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

      where inv = invert( tran );

      Specified by:
      invert in interface InvertibleTransform<Se2_F32>
      inverse - Where the inverse will be stored. If null a new instance is created. Modified.
      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 String toString()
      toString in class Object
    • print

      public void print()