holoscan::Pose2 | Holoscan SDK Documentation

template <typename K>
struct Pose2

Class representing 2D transformations (rigid body motion in 2D).

This class represents elements of the SE(2) group, which combines 2D rotations and translations. Each pose consists of a rotation component (SO2) and a translation vector in 2D space.

#include <holoscan/pose2.hpp>

Template parameters

typename

Scalar type (typically float or double).

Methods

inverse

Pose2 holoscan::Pose2<K>::inverse() const

Get the inverse transformation.

Returns: Inverse transformation.

matrix

Matrix3<K> holoscan::Pose2<K>::matrix() const

Get the 3×3 homogeneous transformation matrix representation.

Returns: 3×3 transformation matrix.

cast

Const (1)

Const (2)

template <typename S>
Pose2<S> holoscan::Pose2<K>::cast() const

Cast to a different scalar type.

Returns: Pose cast to the target type.

Template parameters

typename

Target scalar type.

pow

Pose2 holoscan::Pose2<K>::pow(
    K exponent
) const

Compute the power of the transformation.

This computes the transformation raised to the given exponent using exponential coordinates and matrix exponentiation.

Returns: Transformation raised to the given power.

Parameters

exponent

Power to raise the transformation to.

Static methods

identity

static Pose2 holoscan::Pose2<K>::identity()

Create the identity transformation.

Returns: Identity transformation (no rotation or translation).

from_translation

Create a pure translation transformation

Overload 2

static Pose2 holoscan::Pose2<K>::from_translation(
    const Vector2<K> &translation
)

Create a pure translation transformation.

Returns: Translation-only transformation.

Parameters

translation

const Vector2<K> &

Translation vector.

from_rotation

static Pose2 holoscan::Pose2<K>::from_rotation(
    const K angle
)

Create a pure rotation transformation.

Returns: Rotation-only transformation.

Parameters

angle

const K

Rotation angle in radians.

from_xy_a

static Pose2 holoscan::Pose2<K>::from_xy_a(
    K px,
    K py,
    K angle
)

Create a pose from position and angle components.

Returns: Pose with specified translation and rotation.

Parameters

X component of translation.

Y component of translation.

angle

Rotation angle in radians.

from_matrix

static Pose2 holoscan::Pose2<K>::from_matrix(
    const Matrix3<K> &matrix
)

Create a pose from a 3×3 transformation matrix.

Returns: Pose represented by the matrix.

Parameters

matrix

const Matrix3<K> &

3×3 Homogeneous transformation matrix.

Types

Typedefs

Name	Definition
`Scalar`	`K`

Member variables

Name	Type	Description
`kDimension` static constexpr	`int`
`rotation`	`SO2< K >`	Rotation component.
`translation`	`Vector2< K >`	Translation component.