math::SE2#

rb::math::SE2 provides planar rigid transform helpers. It is most useful in mobility and planar-base code where 2D poses and twists are enough.

Header

Header

#include <rby1-sdk/math/se2.h>

Declaration

Namespace

rb::math

Kind

class

Primary role

Provide static helpers for planar rigid transforms.

Member Types

Type

Purpose

Notes

MatrixType

Matrix representation used by the planar-transform helpers.

Returned by the construction methods on this page.

Public Member Functions

Method group

Purpose

Notes

Identity() and T(...)

Create planar transforms.

T(...) combines heading and translation.

Exp(...) and Log(...)

Move between planar transforms and planar twist coordinates.

Useful for mobility control and estimation.

Detailed Reference

class SE2#

Public Types

using MatrixType = Eigen::Matrix3d#

Public Static Functions

static MatrixType Exp(const se2v::MatrixType &s, double angle = 1.0)#
static MatrixType Identity()#
static se2v::MatrixType Log(const MatrixType &T)#
static MatrixType T(double angle, const Eigen::Vector<double, 2> &translation = {0, 0})#

Related Types

Examples

  • mobility_command.cpp is the clearest place to see SE2-adjacent logic.