tag::WorldPose< State > Class Template Reference

#include <measurements.h>

Collaboration diagram for tag::WorldPose< State >:

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

Public Attributes
TooN::Matrix< M_DIMENSION >	covariance
TooN::Matrix< M_DIMENSION, State::STATE_DIMENSION >	jacobian
TooN::SE3	measurement

Static Public Attributes
static const int	M_DIMENSION = 6

Detailed Description

template<class State>
class tag::WorldPose< State >

An absolute pose measurement in world coordinates. This is transformed into an incremental motion given the state of the filter.

Constructor & Destructor Documentation

template<class State >

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

inline

References tag::WorldPose< State >::covariance, and tag::WorldPose< State >::jacobian.

Member Function Documentation

template<class State >

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

inline

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

template<class State >

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

inline

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

template<class State >

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

inline

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

Member Data Documentation

template<class State >

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

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

template<class State >

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

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

template<class State >

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

static

template<class State >

TooN::SE3 tag::WorldPose< State >::measurement

Referenced by tag::WorldPose< State >::getInnovation().

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

• measurements.h