UPoseQ Class Reference

#include <upose.h>

Public Member Functions
void	addPose (double x, double y, double h)
void	clear ()
virtual const char *	getDataType ()
UPose	getPose ()
UPose *	getpPose ()
UMatrix4 *	getpQ ()
UMatrix4	getQ ()
UMatrix4 *	getQi ()
UMatrix4 *	makeQi ()
UPoseQ	operator= (UPoseQ source)
void	printPose (char *prestring)
void	setPose (UPose iPose)
void	setPose (double x, double y, double h)
void	setQ (UMatrix4 *mQ)
	UPoseQ ()
	UPoseQ (UPoseQ *source)
virtual	~UPoseQ ()

Public Attributes
bool	QiValid

Protected Attributes
double	d
UPose	pose
UMatrix4	Q
UMatrix4	Qi

Detailed Description

This classholds 2 2D position and orientation and the position uncertainty related to this position, i.e. [x,y,h]. The uncertainty is in the covariance matrix form (3x3)

Constructor & Destructor Documentation

UPoseQ::UPoseQ

(

)

Constructor

UPoseQ::UPoseQ

(

UPoseQ *

source

)

Constructor as copy from other UPosRobQ

UPoseQ::~UPoseQ ( )

virtual

Destructor

Member Function Documentation

void UPoseQ::addPose ( double  x, double  y, double  h  )

inline

Add to position estimate. NB! this do not change the covariance matrix.

void UPoseQ::clear ( void  )

inline

Set position and covariance to zero

virtual const char* UPoseQ::getDataType ( )

inlinevirtual

Get (end) type of this structure

UPose UPoseQ::getPose ( )

inline

Get estimated pose

Referenced by UMapObj::getPose().

UPose* UPoseQ::getpPose ( )

inline

Get pointer to pose

Referenced by UMapObj::getpPose().

UMatrix4* UPoseQ::getpQ ( )

inline

Get (pointer to) covariance matrix .

UMatrix4 UPoseQ::getQ ( )

inline

Get covariance matrix copy.

UMatrix4* UPoseQ::getQi ( )

inline

Get pointer to inverse of covariance matric. If not valid, then calculated. If not possible then Qi.err == -1. and QiValid is set to false.

UMatrix4 * UPoseQ::makeQi

(

)

Generate inverse of Q. and calculated determinant d. If this is possible, then QiValid is set true, if not then QiValid is set to false.

References UMatrix4::det().

UPoseQ UPoseQ::operator= ( UPoseQ  source )

inline

Assignment operator. This is needed as the matrix holds a pointer, that needs to be moved.

References pose, Q, Qi, and QiValid.

void UPoseQ::printPose ( char *  prestring )

inline

Print pose in single line to console, with the provided prestring in front of data.

void UPoseQ::setPose ( UPose  iPose )

inline

Set position of only. NB! this do not change the covariance matrix.

void UPoseQ::setPose ( double  x, double  y, double  h  )

inline

Set position of only. NB! this do not change the covariance matrix.

void UPoseQ::setQ ( UMatrix4 *  mQ )

inline

Set covariance matrix - and invalidate the inverse version

References UMatrix::init().

Member Data Documentation

double UPoseQ::d

protected

Determinant of Q, but only valid if QiValid is true.

UPose UPoseQ::pose

protected

Save this qualified pose to html-like file. Return true is saved. Load a poseQ from this xml-class. Returns true if read. Reports format error to xml-class. Position in [x,y,h] coordiantes, where x if forward (or north), y is left (or west) and h is heading (or normal mathematic angle in an x,y coordinate system)

Referenced by operator=().

UMatrix4 UPoseQ::Q

protected

Covariance matrix related to this position

Referenced by operator=().

UMatrix4 UPoseQ::Qi

protected

Inverse of the covariance matrix Q. But is only valid if QiValid is true.

Referenced by operator=().

bool UPoseQ::QiValid

Referenced by operator=().

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The documentation for this class was generated from the following files:

• upose.h
• upose.cpp