tag::IncrementalPose< State > Class Template Reference

#include <measurements.h>

Collaboration diagram for tag::IncrementalPose< State >:

Public Member Functions
	IncrementalPose (void)
TooN::Matrix< M_DIMENSION, State::STATE_DIMENSION > &	getMeasurementJacobian (const State &state)
TooN::Matrix< M_DIMENSION > &	getMeasurementCovariance (const State &state)
TooN::Vector< M_DIMENSION > &	getInnovation (const State &state)
void	setMeasurement (const TooN::SE3<> &increment)

Public Attributes
TooN::Matrix< M_DIMENSION >	covariance
TooN::Matrix< M_DIMENSION, State::STATE_DIMENSION >	jacobian
TooN::Vector< M_DIMENSION >	measurement

Static Public Attributes
static const int	M_DIMENSION = 6

Detailed Description

template<class State>
class tag::IncrementalPose< State >

An incremental measurement consisting of the 6-vector parameterizing a correction to be left multiplied to the current pose. This is typically the result of an optimization run.

Constructor & Destructor Documentation

template<class State >

tag::IncrementalPose< State >::IncrementalPose ( void  )

inline

References tag::IncrementalPose< State >::covariance, tag::IncrementalPose< State >::jacobian, and tag::IncrementalPose< State >::measurement.

Member Function Documentation

template<class State >

TooN::Vector<M_DIMENSION>& tag::IncrementalPose< State >::getInnovation ( const State &  state )

inline

References tag::IncrementalPose< State >::measurement.

template<class State >

TooN::Matrix<M_DIMENSION>& tag::IncrementalPose< State >::getMeasurementCovariance ( const State &  state )

inline

References tag::IncrementalPose< State >::covariance.

template<class State >

TooN::Matrix<M_DIMENSION,State::STATE_DIMENSION>& tag::IncrementalPose< State >::getMeasurementJacobian ( const State &  state )

inline

References tag::IncrementalPose< State >::jacobian.

template<class State >

void tag::IncrementalPose< State >::setMeasurement ( const TooN::SE3<> &  increment )

inline

References tag::IncrementalPose< State >::measurement.

Member Data Documentation

template<class State >

TooN::Matrix<M_DIMENSION> tag::IncrementalPose< State >::covariance

Referenced by tag::IncrementalPose< State >::getMeasurementCovariance(), and tag::IncrementalPose< State >::IncrementalPose().

template<class State >

TooN::Matrix<M_DIMENSION,State::STATE_DIMENSION> tag::IncrementalPose< State >::jacobian

Referenced by tag::IncrementalPose< State >::getMeasurementJacobian(), and tag::IncrementalPose< State >::IncrementalPose().

template<class State >

const int tag::IncrementalPose< State >::M_DIMENSION = 6

static

template<class State >

TooN::Vector<M_DIMENSION> tag::IncrementalPose< State >::measurement

Referenced by tag::IncrementalPose< State >::getInnovation(), tag::IncrementalPose< State >::IncrementalPose(), and tag::IncrementalPose< State >::setMeasurement().

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

• measurements.h