Package georegression.struct.se

Class Se2_F64

java.lang.Object
georegression.struct.se.Se2_F64
All Implemented Interfaces:
InvertibleTransform<Se2_F64>, SpecialEuclidean<Se2_F64>, Serializable
public class Se2_F64 extends 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:

  • Field Details

    • T

      public Vector2D_F64 T

    • c

      public double c

    • s

      public double s

  • Constructor Details

    • 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 Details

    • setTo

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

    • setTo

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

    • zero

      public void zero()

    • setTo

      public Se2_F64 setTo(Se2_F64 target)
      Description copied from interface: InvertibleTransform
      Assigns 'this' to the value of target.
      Specified by:
      setTo in interface InvertibleTransform<Se2_F64>
      Parameters:
      target - The new value of 'this'.
      Returns:
      A reference to 'this' to enable chaining

    • 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, @Nullable @Nullable 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(@Nullable @Nullable 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 String toString()
      Overrides:
      toString in class Object

    • print

      public void print()