mpp::PoseOrPoint Struct Reference

#include <mpp/data/SE2_KinState.h>

Public Member Functions
	PoseOrPoint ()=default
	~PoseOrPoint ()=default
	PoseOrPoint (const mrpt::math::TPoint2D &p)
	PoseOrPoint (const mrpt::math::TPose2D &p)
bool	isEmpty () const
bool	isPose () const
bool	isPoint () const
const mrpt::math::TPose2D &	pose () const
const mrpt::math::TPoint2D &	point () const
std::string	asString () const

Static Public Member Functions
static PoseOrPoint	FromString (const std::string &s)

Private Attributes
std::variant< std::monostate, mrpt::math::TPose2D, mrpt::math::TPoint2D >	data_

Detailed Description

Variant wrapper holding a SE(2) pose, a R(2) (2D) point, or none (default). It is used to provide a goal or waypoint state, when the heading is not important and the user only wants to specify the (x,y) coordinates of the 2D point.

Constructor & Destructor Documentation

PoseOrPoint() [1/3]

mpp::PoseOrPoint::PoseOrPoint ( )

default

~PoseOrPoint()

mpp::PoseOrPoint::~PoseOrPoint ( )

default

PoseOrPoint() [2/3]

mpp::PoseOrPoint::PoseOrPoint ( const mrpt::math::TPoint2D &  p )

inline

PoseOrPoint() [3/3]

mpp::PoseOrPoint::PoseOrPoint ( const mrpt::math::TPose2D &  p )

inline

Member Function Documentation

asString()

std::string mpp::PoseOrPoint::asString

(

)

const

FromString()

static PoseOrPoint mpp::PoseOrPoint::FromString ( const std::string &  s )

static

Returns a point or a pose depending on the input string having the format "[x y]" or "[x y phi_degrees]", respectively.

isEmpty()

bool mpp::PoseOrPoint::isEmpty ( ) const

inline

isPoint()

bool mpp::PoseOrPoint::isPoint ( ) const

inline

isPose()

bool mpp::PoseOrPoint::isPose ( ) const

inline

point()

const mrpt::math::TPoint2D& mpp::PoseOrPoint::point ( ) const

inline

pose()

const mrpt::math::TPose2D& mpp::PoseOrPoint::pose ( ) const

inline

Member Data Documentation

data_

std::variant<std::monostate, mrpt::math::TPose2D, mrpt::math::TPoint2D> mpp::PoseOrPoint::data_

private

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The documentation for this struct was generated from the following file:

• /home/docs/checkouts/readthedocs.org/user_builds/selfdriving/checkouts/latest/mrpt_path_planning/include/mpp/data/SE2_KinState.h