#include <measurements.h>

Collaboration diagram for tag::WorldPosition< State >:

Public Member Functions
	WorldPosition (void)

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

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

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

void	setCovariance (double sigma)

void	setCovariance (const TooN::Vector< M_DIMENSION > &sigma)

Public Attributes
TooN::Vector< M_DIMENSION >	position

TooN::Matrix< M_DIMENSION >	covariance

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

Static Public Attributes
static const int	M_DIMENSION = 3

Detailed Description

template<class State>
class tag::WorldPosition< State >

An absolute position (= translation) measurement in world coordinates. This is transformed into an incremental motion given the state of the filter. Possible sensors include GPS.

Constructor & Destructor Documentation

template<class State >

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

inline

References tag::WorldPosition< State >::covariance, tag::WorldPosition< State >::jacobian, and tag::WorldPosition< State >::position.

Member Function Documentation

template<class State >

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

inline

the negative vector corresponds to the left transformation to get from the current reference frame to the new reference frame where position is the origin.

References tag::WorldPosition< State >::position.

template<class State >

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

inline

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

template<class State >

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

inline

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

template<class State >

void tag::WorldPosition< State >::setCovariance ( double sigma )

inline