Module util :: Class Pose

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