Pose2 using traits

[tokeloshe]

Hi everyone,

I'm trying to create a new data type that essentially consists of a Pose2 + velocity + change in angle to model something like a "Constant turn rate and velocity" model. I'd like to create this type using traits. I'm trying to follow the description here and the Point2c example by Dong Jing, however I'm having some trouble with the orientation.

So the critical part for me, I think, is how one would extend the Point2c example to a Pose2 example to correctly handle orientations instead of only points.

Mainly, my question is about how to formulate the local and the retract functions. Would it be possible to get an example on how to do this? I looked at the Pose3.cpp in the source for inspiration, but there the local and retract functions are formulated in a seemingly different way (there is no v involved as required by the traits and as used in the Point2c example).

Thanks in advance!

[Frank Dellaert]

Check out unit tests, simpler types. Also there is a wiki page on traits.